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New Crowdin translations - zh-CN
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Hamish Willee
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@@ -28,7 +28,7 @@ The agent acts as a proxy for the client to publish and subscribe to topics in t
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The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is generated at build time and included in PX4 firmware by default.
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It includes both the "generic" micro XRCE-DDS client code, and PX4-specific translation code that it uses to publish to/from uORB topics.
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The subset of uORB messages that are generated into the client are listed in [PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
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The subset of uORB messages that are generated into the client are specified in [dds_topics.yaml](../middleware/dds_topics.md).
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The generator uses the uORB message definitions in the source tree: [PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg) to create the code for sending ROS 2 messages.
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ROS 2 applications need to be built in a workspace that has the _same_ message definitions that were used to create the uXRCE-DDS client module in the PX4 Firmware.
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@@ -97,48 +97,48 @@ To install ROS 2 and its dependencies:
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1. Install ROS 2.
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:::: tabs
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:::: tabs
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::: tab humble
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To install ROS 2 "Humble" on Ubuntu 22.04:
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::: tab humble
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To install ROS 2 "Humble" on Ubuntu 22.04:
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```sh
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sudo apt update && sudo apt install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update && sudo apt upgrade -y
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sudo apt install ros-humble-desktop
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sudo apt install ros-dev-tools
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source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
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```
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```sh
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sudo apt update && sudo apt install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update && sudo apt upgrade -y
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sudo apt install ros-humble-desktop
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sudo apt install ros-dev-tools
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source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
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```
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The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
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You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).
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The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
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You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).
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:::
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::: tab foxy
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To install ROS 2 "Foxy" on Ubuntu 20.04:
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::: tab foxy
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To install ROS 2 "Foxy" on Ubuntu 20.04:
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- Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
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- Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
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You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).
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You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).
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:::
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::::
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::::
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2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**):
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```sh
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pip install --user -U empy==3.3.4 pyros-genmsg setuptools
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```
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```sh
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pip install --user -U empy==3.3.4 pyros-genmsg setuptools
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```
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### Setup Micro XRCE-DDS Agent & Client
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@@ -155,22 +155,22 @@ To setup and start the agent:
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2. 输入以下命令从仓库获取源代码并构建代理(Agent)：
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```sh
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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cd Micro-XRCE-DDS-Agent
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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sudo ldconfig /usr/local/lib/
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```
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```sh
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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cd Micro-XRCE-DDS-Agent
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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sudo ldconfig /usr/local/lib/
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```
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3. 启动代理并设置以连接运行在模拟器上的 uXRCE-DDS客户端(Client)：
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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The agent is now running, but you won't see much until we start PX4 (in the next step).
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@@ -187,31 +187,31 @@ To start the simulator (and client):
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1. Open a new terminal in the root of the **PX4 Autopilot** repo that was installed above.
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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- Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
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- Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
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```sh
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make px4_sitl gz_x500
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```
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```sh
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make px4_sitl gz_x500
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```
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:::
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::: tab foxy
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::: tab foxy
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- Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
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- Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
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```sh
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make px4_sitl gazebo-classic
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```
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```sh
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make px4_sitl gazebo-classic
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```
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:::
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::::
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::::
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The agent and client are now running they should connect.
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@@ -261,52 +261,52 @@ To create and build the workspace:
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2. Create and navigate into a new workspace directory using:
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```sh
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mkdir -p ~/ws_sensor_combined/src/
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cd ~/ws_sensor_combined/src/
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```
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```sh
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mkdir -p ~/ws_sensor_combined/src/
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cd ~/ws_sensor_combined/src/
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```
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::: info
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A naming convention for workspace folders can make it easier to manage workspaces.
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::: info
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A naming convention for workspace folders can make it easier to manage workspaces.
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:::
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3. Clone the example repository and [px4_msgs](https://github.com/PX4/px4_msgs) to the `/src` directory (the `main` branch is cloned by default, which corresponds to the version of PX4 we are running):
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```sh
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git clone https://github.com/PX4/px4_msgs.git
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git clone https://github.com/PX4/px4_ros_com.git
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```
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```sh
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git clone https://github.com/PX4/px4_msgs.git
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git clone https://github.com/PX4/px4_ros_com.git
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```
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4. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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cd ..
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source /opt/ros/humble/setup.bash
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colcon build
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```
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```sh
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cd ..
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source /opt/ros/humble/setup.bash
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colcon build
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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cd ..
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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```sh
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cd ..
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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:::
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::::
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::::
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This builds all the folders under `/src` using the sourced toolchain.
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This builds all the folders under `/src` using the sourced toolchain.
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#### Running the Example
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@@ -322,42 +322,42 @@ In a new terminal:
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1. Navigate into the top level of your workspace directory and source the ROS 2 environment (in this case "Humble"):
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/humble/setup.bash
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```
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/humble/setup.bash
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/foxy/setup.bash
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```
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/foxy/setup.bash
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```
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:::
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::::
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::::
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2. Source the `local_setup.bash`.
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```sh
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source install/local_setup.bash
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```
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```sh
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source install/local_setup.bash
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```
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3. Now launch the example.
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Note here that we use `ros2 launch`, which is described below.
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Note here that we use `ros2 launch`, which is described below.
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```sh
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ros2 launch px4_ros_com sensor_combined_listener.launch.py
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```
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```sh
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ros2 launch px4_ros_com sensor_combined_listener.launch.py
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```
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If this is working you should see data being printed on the terminal/console where you launched the ROS listener:
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@@ -385,18 +385,18 @@ If you were to use incompatible [message versions](../middleware/uorb.md#message
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1. Include the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) into the example workspace or a separate workspace by running the following script:
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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2. Build and run the translation node:
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```sh
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colcon build
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source install/local_setup.bash
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ros2 run translation_node translation_node_bin
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```
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```sh
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colcon build
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source install/local_setup.bash
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ros2 run translation_node translation_node_bin
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```
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## Controlling a Vehicle
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@@ -405,7 +405,7 @@ To control applications, ROS 2 applications:
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- subscribe to (listen to) telemetry topics published by PX4
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- publish to topics that cause PX4 to perform some action.
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The topics that you can use are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and you can get more information about their data in the [uORB Message Reference](../msg_docs/index.md).
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The topics that you can use are defined in [dds_topics.yaml](../middleware/dds_topics.md), and you can get more information about their data in the [uORB Message Reference](../msg_docs/index.md).
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For example, [VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) can be used to get the vehicle global position, while [VehicleCommand](../msg_docs/VehicleCommand.md) can be used to command actions such as takeoff and land.
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The [ROS 2 Example applications](#ros-2-example-applications) examples below provide concrete examples of how to use these topics.
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@@ -456,13 +456,13 @@ Therefore, ROS 2 nodes that want to interface with PX4 must take care of the fra
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- To rotate a vector from ENU to NED two basic rotations must be performed:
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- first a pi/2 rotation around the `Z`-axis (up),
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- then a pi rotation around the `X`-axis (old East/new North).
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- first a pi/2 rotation around the `Z`-axis (up),
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- then a pi rotation around the `X`-axis (old East/new North).
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- To rotate a vector from NED to ENU two basic rotations must be performed:
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- - first a pi/2 rotation around the `Z`-axis (down),
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- then a pi rotation around the `X`-axis (old North/new East). Note that the two resulting operations are mathematically equivalent.
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- then a pi rotation around the `X`-axis (old North/new East). Note that the two resulting operations are mathematically equivalent.
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- To rotate a vector from FLU to FRD a pi rotation around the `X`-axis (front) is sufficient.
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@@ -720,17 +720,17 @@ Therefore,
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- If you're using a main or release version of PX4 you can get the message definitions by cloning the interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs) into your workspace.
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- If you're creating or modifying uORB messages you must manually update the messages in your workspace from your PX4 source tree.
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Generally this means that you would update [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), clone the interface package, and then manually synchronize it by copying the new/modified message definitions from [PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg) to its `msg` folders.
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Assuming that PX4-Autopilot is in your home directory `~`, while `px4_msgs` is in `~/ros2_ws/src/`, then the command might be:
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Generally this means that you would update [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), clone the interface package, and then manually synchronize it by copying the new/modified message definitions from [PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg) to its `msg` folders.
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Assuming that PX4-Autopilot is in your home directory `~`, while `px4_msgs` is in `~/ros2_ws/src/`, then the command might be:
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```sh
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rm ~/ros2_ws/src/px4_msgs/msg/*.msg
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cp ~/PX4-Autopilot/mgs/*.msg ~/ros2_ws/src/px4_msgs/msg/
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```
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```sh
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rm ~/ros2_ws/src/px4_msgs/msg/*.msg
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cp ~/PX4-Autopilot/mgs/*.msg ~/ros2_ws/src/px4_msgs/msg/
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```
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::: info
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Technically, [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
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For more information see [uXRCE-DDS > DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml).
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::: info
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Technically, [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
|
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For more information see [uXRCE-DDS > DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml).
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:::
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@@ -739,11 +739,11 @@ Therefore,
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Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) or at runtime (useful for multi vehicle operations):
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- One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
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This technique can be used both in simulation and real vehicles.
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This technique can be used both in simulation and real vehicles.
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- A custom namespace can be provided for simulations (only) by setting the environment variable `PX4_UXRCE_DDS_NS` before starting the simulation.
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:::info
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Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#px4-ros-2-service-servers).
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Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](../middleware/dds_topics.md) and all [service servers](#px4-ros-2-service-servers).
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Therefore, commands like:
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```sh
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@@ -780,7 +780,7 @@ The service servers that are built into the PX4 [uxrce_dds_client](../modules/mo
|
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|
||||
- `/fmu/vehicle_command` (definition: [`px4_msgs::srv::VehicleCommand`](https://github.com/PX4/px4_msgs/blob/main/srv/VehicleCommand.srv).)
|
||||
|
||||
This service can be called by ROS 2 applications to send PX4 [VehicleCommand](../msg_docs/VehicleCommand.md) uORB messages and receive PX4 [VehicleCommandAck](../msg_docs/VehicleCommandAck.md) uORB messages in response.
|
||||
This service can be called by ROS 2 applications to send PX4 [VehicleCommand](../msg_docs/VehicleCommand.md) uORB messages and receive PX4 [VehicleCommandAck](../msg_docs/VehicleCommandAck.md) uORB messages in response.
|
||||
|
||||
All PX4 service names follow the convention `{extra_namespace}/fmu/{server_specific_name}` where `{extra_namespace}` is the same [custom namespace](#customizing-the-namespace) that can be given to the PX4 topics.
|
||||
|
||||
@@ -973,36 +973,36 @@ The standard installation should include all the tools needed by ROS 2.
|
||||
If any are missing, they can be added separately:
|
||||
|
||||
- **`colcon`** build tools should be in the development tools.
|
||||
It can be installed using:
|
||||
It can be installed using:
|
||||
|
||||
```sh
|
||||
sudo apt install python3-colcon-common-extensions
|
||||
```
|
||||
```sh
|
||||
sudo apt install python3-colcon-common-extensions
|
||||
```
|
||||
|
||||
- The Eigen3 library used by the transforms library should be in the both the desktop and base packages.
|
||||
It should be installed as shown:
|
||||
It should be installed as shown:
|
||||
|
||||
:::: tabs
|
||||
:::: tabs
|
||||
|
||||
::: tab humble
|
||||
::: tab humble
|
||||
|
||||
```sh
|
||||
sudo apt install ros-humble-eigen3-cmake-module
|
||||
```
|
||||
```sh
|
||||
sudo apt install ros-humble-eigen3-cmake-module
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab foxy
|
||||
::: tab foxy
|
||||
|
||||
```sh
|
||||
sudo apt install ros-foxy-eigen3-cmake-module
|
||||
```
|
||||
```sh
|
||||
sudo apt install ros-foxy-eigen3-cmake-module
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
::::
|
||||
|
||||
### ros_gz_bridge not publishing on the \clock topic
|
||||
|
||||
|
||||
Reference in New Issue
Block a user