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New Crowdin translations - uk (#25660)

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2
docs/uk/SUMMARY.md
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@@ -436,6 +436,7 @@
- [Attitude Tuning](config_rover/attitude_tuning.md)
- [Velocity Tuning](config_rover/velocity_tuning.md)
- [Position Tuning](config_rover/position_tuning.md)
- [Apps & API](flight_modes_rover/api.md)
- [Complete Vehicles](complete_vehicles_rover/index.md)
- [Aion Robotics R1](complete_vehicles_rover/aion_r1.md)
- [Submarines (experimental)](frames_sub/index.md)
@@ -872,6 +873,7 @@
- [Інтерфейсна бібліотека PX4 ROS 2](ros2/px4_ros2_interface_lib.md)
- [Керування інтерфейсом](ros2/px4_ros2_control_interface.md)
- [Навігаційний інтерфейс](ros2/px4_ros2_navigation_interface.md)
- [Waypoint Missions](ros2/px4_ros2_waypoint_missions.md)
- [ROS 2 Message Translation Node](ros2/px4_ros2_msg_translation_node.md)
- [ROS 1 (Deprecated)](ros/ros1.md)
- [Посібник із встановлення ROS/MAVROS](ros/mavros_installation.md)

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docs/uk/config/_autotune.md
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@@ -95,9 +95,17 @@ The RC sticks cannot be used during autotuning (moving the sticks will stop the
4. Read the warning popup and click on **OK** to start tuning.
4. Дрон спочатку почне виконувати швидкі рухи кочення, а потім рухи тангажу та рухи курсу.
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
The progress is shown in the progress bar, next to the _Autotune_ button.
</div><div v-else-if="$frontmatter.frame === 'Plane'">
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
The progress is shown in the progress bar, next to the _Autotune_ button.
</div>
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
5. Manually land and disarm to apply the new tuning parameters.
@@ -108,6 +116,13 @@ The RC sticks cannot be used during autotuning (moving the sticks will stop the
5. The tuning will be immediately/automatically be applied and tested in flight (by default).
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
The figure below shows how steps 4 and 5 might look in flight on the pitch axis.
The pitch rate gradually increases up until it reaches the target.
This amplitude is then held while the signal frequency is increased.
You can then see how the tuned system is able to follow the setpoint in the test signal.
<img src="../../assets/config/fw/autotune.png" title="Fixed-Wing Autotune"/>
</div>
:::warning
@@ -174,9 +189,20 @@ Fast oscillations (more than 1 oscillation per second): this is because the gain
### Послідовність автоматичної настройки не вдається
<div v-if="$frontmatter.frame === 'Multicopter'">
Якщо безпілотник не рухався достатньо під час автоматичного налаштування, алгоритм ідентифікації системи може мати проблеми з визначенням правильних коефіцієнтів.
Increase the <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">[MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">[FW_AT_SYSID_AMP](../advanced_config/parameter_reference.md#FW_AT_SYSID_AMP)</div> parameter by steps of 1 and trigger the auto-tune again.
Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP) parameter by steps of 1 and trigger the auto-tune again.
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
</div>
### The drone oscillates after auto-tuning

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docs/uk/debug/failure_injection.md
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@@ -9,7 +9,7 @@ Failure injection is disabled by default, and can be enabled using the [SYS_FAIL
Failure injection still in development.
На момент написання (PX4 v1.14):
- Це можна використовувати лише в симуляції (підтримка як для впровадження в реальному польоті запланована).
- Support may vary by failure type and between simulatiors and real vehicle.
- Потребує підтримки в симуляторі.
Це підтримується в Gazebo Classic
- Багато типів відмов не широко реалізовані.
@@ -33,31 +33,31 @@ failure <component> <failure_type> [-i <instance_number>]
- _component_:
- Датчики:
- `gyro`: Gyro.
- `accel`: Accelerometer.
- `gyro`: Gyroscope
- `accel`: Accelerometer
- `mag`: Magnetometer
- `baro`: Barometer
- `gps`: GPS
- `gps`: Global navigation satellite system
- `optical_flow`: Optical flow.
- `vio`: Visual inertial odometry.
- `vio`: Visual inertial odometry
- `distance_sensor`: Distance sensor (rangefinder).
- `airspeed`: Airspeed sensor.
- `airspeed`: Airspeed sensor
- Системи:
- `battery`: Battery.
- `motor`: Motor.
- `servo`: Servo.
- `avoidance`: Avoidance.
- `rc_signal`: RC Signal.
- `mavlink_signal`: MAVLink signal (data telemetry).
- `battery`: Battery
- `motor`: Motor
- `servo`: Servo
- `avoidance`: Avoidance
- `rc_signal`: RC Signal
- `mavlink_signal`: MAVLink data telemetry connection
- _failure_type_:
- `ok`: Publish as normal (Disable failure injection).
- `off`: Stop publishing.
- `stuck`: Report same value every time (_could_ indicate a malfunctioning sensor).
- `garbage`: Publish random noise. Це схоже на читання неініціалізованої пам'яті.
- `wrong`: Publish invalid values (that still look reasonable/aren't "garbage").
- `slow`: Publish at a reduced rate.
- `delayed`: Publish valid data with a significant delay.
- `intermittent`: Publish intermittently.
- `ok`: Publish as normal (Disable failure injection)
- `off`: Stop publishing
- `stuck`: Constantly report the same value which _can_ happen on a malfunctioning sensor
- `garbage`: Publish random noise. This looks like reading uninitialized memory
- `wrong`: Publish invalid values that still look reasonable/aren't "garbage"
- `slow`: Publish at a reduced rate
- `delayed`: Publish valid data with a significant delay
- `intermittent`: Publish intermittently
- _instance number_ (optional): Instance number of affected sensor.
0 (за замовчуванням) вказує на всі сенсори вказаного типу.
@@ -65,7 +65,7 @@ failure <component> <failure_type> [-i <instance_number>]
Щоб симулювати втрату сигналу RC без вимкнення вашого пульта керування RC:
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN).
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
2. Enter the following commands on the MAVLink console or SITL _pxh shell_:
```sh

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docs/uk/flight_modes/offboard.md
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@@ -62,6 +62,11 @@ bool thrust_and_torque
bool direct_actuator
```
:::warning
The following list shows the `OffboardControlMode` options for copter, fixed-wing, and VTOL.
For rovers see the [rover section](#rover).
:::
The fields are ordered in terms of priority such that `position` takes precedence over `velocity` and later fields, `velocity` takes precedence over `acceleration`, and so on.
Перше поле, яке має ненульове значення (зверху вниз), визначає, яка допустима оцінка необхідна для використання режиму безпілотного керування, а також повідомлення заданих значень, які можуть бути використані.
For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `velocity estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message.
@@ -90,20 +95,93 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
- Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`)
- Всі значення інтерпретуються в NED (Nord, East, Down) координатну систему і одиниці вимірювання, є \[m/s\] і \[m/s^2\] для позиції, швидкості і прискорення, відповідно.
- All values are interpreted in NED (Nord, East, Down) coordinate system and the units are `[m]`, `[m/s]` and `[m/s^2]` for position, velocity and acceleration, respectively.
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
- Підтримується наступна комбінація введення:
- quaternion `q_d` + thrust setpoint `thrust_body`.
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in `[rad/s]`.
- Кватерніон представляє обертання між корпусом дрона у системі координат FRD (перед, праворуч, вниз) та системою координат NED. Тяга у корпусі дрона виражена у системі координат FRD та у нормалізованих значеннях.
- Кватерніон представляє обертання між корпусом дрона у системі координат FRD (перед, праворуч, вниз) та системою координат NED.
Тяга у корпусі дрона виражена у системі координат FRD та у нормалізованих значеннях.
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
- Підтримується наступна комбінація введення:
- `roll`, `pitch`, `yaw` and `thrust_body`.
- Всі значення подані в для дрона в системі FRD. Значення в \[rad/s\] і thrust_body нормалізовано в \[-1, 1\].
- Всі значення подані в для дрона в системі FRD.
The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`.
### Ровер
Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints.
The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different:
| Category | Використання | Setpoints |
| -------------------------------------------------------------------------------------- | ----------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| (Recommended) [Rover Setpoints](#rover-setpoints) | General rover control | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md), [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md), [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md), [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md), [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md), [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| [Actuator Setpoints](#actuator-setpoints) | Direct actuator control | [ActuatorMotors](../msg_docs/ActuatorMotors.md), [ActuatorServos](../msg_docs/ActuatorServos.md) |
| (Deprecated) [Trajectory Setpoint](#deprecated-trajectory-setpoint) | General vehicle control | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
#### Rover Setpoints
The rover modules use a hierarchical structure to propagate setpoints:
![Rover Control Structure](../../assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg)
The "highest" setpoint that is provided will be used within the PX4 rover modules to generate the setpoints that are below it (overriding them!).
With this hierarchy there are clear rules for providing a valid control input:
- Provide a position setpoint **or**
- One of the setpoints on the "left" (speed **or** throttle) **and** one of the setpoints on the "right" (attitude, rate **or** steering).
All combinations of "left" and "right" setpoints are valid.
The following are all valid setpoint combinations and their respective control flags that must be set through [OffboardControlMode](../msg_docs/OffboardControlMode.md) (set all others to _false_).
Additionally, for some combinations we require certain setpoints to be published with `NAN` values so that the setpoints of interest are not overridden by the rover module (due to the hierarchy above).
&check; are the relevant setpoints we publish, and &cross; are the setpoint that need to be published with `NAN` values.
| Setpoint Combination | Control Flag | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| -------------------- | ----------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------- |
| Положення | положення | &check; | | | | | |
| Speed + Attitude | швидкість | | &check; | | &check; | | |
| Speed + Rate | швидкість | | &check; | | &cross; | &check; | |
| Speed + Steering | швидкість | | &check; | | &cross; | &cross; | &check; |
| Throttle + Attitude | attitude | | | &check; | &check; | | |
| Throttle + Rate | body_rate | | | &check; | | &check; | |
| Throttle + Steering | thrust_and_torque | | | &check; | | | &check; |
:::info
If you intend to use the rover setpoints, we recommend using the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) instead since it simplifies the publishing of these setpoints.
:::
#### Actuator Setpoints
Instead of controlling the vehicle using position, speed, rate and other setpoints, you can directly control the motors and actuators using [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md).
In [OffboardControlMode](../msg_docs/OffboardControlMode.md) set `direct_actuator` to _true_ and all other flags to _false_.
:::info
This bypasses the rover modules including any limits on steering rates or accelerations and the inverse kinematics step.
We recommend using [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) and [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) instead for low level control (see [Rover Setpoints](#rover-setpoints)).
:::
#### (Deprecated) Trajectory Setpoint
:::warning
The [Rover Setpoints](#rover-setpoints) are a replacement for the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) and we highly recommend using those instead as they have a well defined behaviour and offer more flexibility.
:::
The rover modules support the _position_, _velocity_ and _yaw_ fields of the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md).
However, only one of the fields is active at a time and is defined by the flags of [OffboardControlMode](../msg_docs/OffboardControlMode.md):
| Control Mode Flag | Active Trajectory Setpoint Field |
| ----------------- | -------------------------------- |
| положення | положення |
| швидкість | швидкість |
| attitude | yaw |
:::info
Ackermann rovers do not support the yaw setpoint.
:::
### Універсальний апарат
@@ -116,8 +194,10 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
- Ви безпосередньо керуєте вихідними сигналами моторів та/або сервоприводів.
- Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode.
- Усі значення нормалізовані у діапазоні \[-1, 1\]. For outputs that do not support negative values, negative entries map to `NaN`.
- Currently works at lower level than then `control_allocator` module.
Do not publish these messages when not in offboard mode.
- All the values normalized in `[-1, 1]`.
For outputs that do not support negative values, negative entries map to `NaN`.
- `NaN` maps to disarmed.
## Повідомлення MAVLink
@@ -206,41 +286,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
### Ровер
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
- Position setpoint (only `x`, `y`, `z`)
- Specify the _type_ of the setpoint in `type_mask`:
::: info
The _setpoint type_ values below are not part of the MAVLink standard for the `type_mask` field.
::
Значення:
- 12288: задане значення Loiter (пристрій зупиняється, коли вже достатньо близько, щоб встановити точку).
- Velocity setpoint (only `vx`, `vy`, `vz`)
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
- Specify the _type_ of the setpoint in `type_mask` (not part of the MAVLink standard).
Значення:
- Якщо наступні біти не встановлені, то виконується звичайна поведінка.
- 12288: задане значення Loiter (пристрій зупиняється, коли вже достатньо близько, щоб встановити точку).
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- Підтримуються наступні вхідні комбінації:
- Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
::: info
Only the yaw setting is actually used/extracted.
:::
Rover does not support a MAVLink offboard API (ROS2 is supported).
## Параметри для відключення

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@@ -0,0 +1,29 @@
# Apps & API
The rover modules have been tested and integrated with a subset of the available [Apps & API](../middleware/index.md) methods.
We specifically provide guides for using [ROS 2](../ros2/index.md) to interface a companion computer with PX4 via [uXRCE-DDS](../middleware/uxrce_dds.md).
| Method | Опис |
| ---------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| [PX4 ROS 2 Interface](#px4-ros-2-interface) (Recommended) | Register a custom mode and publish [RoverSetpointTypes](../ros2/px4_ros2_control_interface.md#rover-setpoints). |
| [ROS 2 Offboard Control](#ros-2-offboard-control) | Use the PX4 internal [Offboard Mode](../flight_modes/offboard.md) and publish messages defined in [dds_topics.yaml](../middleware/dds_topics.md). |
## PX4 ROS 2 Interface
We recommend the use of the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) which allows you to register a custom drive mode and exposes [RoverSetpointTypes](../ros2/px4_ros2_control_interface.md#rover-setpoints).
By using these setpoints (instead of the PX4 internal rover setpoints), you are guaranteed to send valid control inputs to your vehicle and the control flags for the setpoints you are using are automatically set for you.
Registering a custom drive mode instead of using [ROS 2 Offboard Control](#ros-2-offboard-control) additionally provides the advantages listed [here](../concept/flight_modes.md#internal-vs-external-modes).
To get familiar with this method, read through the guide for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) where we also provide an example app for rover.
## ROS 2 Offboard Control
[ROS 2 Offboard Control](../ros2/offboard_control.md) uses the PX4 internal [Offboard Mode](../flight_modes/offboard.md).
While you can subscribe/publish to all topics specified in [dds_topics.yaml](../middleware/dds_topics.md), not all rover modules support all of these topics (see [Supported Setpoints](../flight_modes/offboard.md#rover)).
Unlike the [RoverSetpointTypes](../ros2/px4_ros2_control_interface.md#rover-setpoints) exposed through the [PX4 ROS 2 Interface](#px4-ros-2-interface), there is no guarantee that the published setpoints lead to a valid control input.
In addition, the correct control mode flags must be set through [OffboardControlMode](../msg_docs/OffboardControlMode.md).
This requires a deeper understanding of PX4 and the structure of the rover modules.
For general information on setting up offboard mode read through [Offboard Mode](../flight_modes/offboard.md) and then consult [Supported Setpoints](../flight_modes/offboard.md#rover).

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@@ -57,15 +57,17 @@ Each wheel is driven by its own motor, and by controlling the speed and directio
## Дивіться також
- [Drive Modes](../flight_modes_rover/index.md).
- [Drive Modes](../flight_modes_rover/index.md)
- [Configuration/Tuning](../config_rover/index.md)
- [Apps & API](../flight_modes_rover/api.md)
- [Complete Vehicles](../complete_vehicles_rover/index.md)
## Симуляція
[Gazebo](../sim_gazebo_gz/index.md) provides simulations for ackermann and differential rovers:
PX4 provides synthetic simulation models for [Gazebo](../sim_gazebo_gz/index.md) of all three rover types to test the software and validate changes and new features:
- [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
- [Mecanum rover](../sim_gazebo_gz/vehicles.md#mecanum-rover)
![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)

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@@ -58,7 +58,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Симуляція
- Уточнюється
- Overhaul rover simulation:
- Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
- Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
- Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
### Ethernet
@@ -67,6 +70,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### uXRCE-DDS / ROS2
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
### MAVLink
@@ -89,6 +93,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Ровер
- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
- Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
### ROS 2

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@@ -1,6 +1,6 @@
# ROS 2 Offboard Control Приклад
The following C++ example shows how to do position control in [offboard mode](../flight_modes/offboard.md) from a ROS 2 node.
The following C++ example shows how to do multicopter position control in [offboard mode](../flight_modes/offboard.md) from a ROS 2 node.
Приклад починає відправляти установочні точки, входить у режим offboard, озброюється, піднімається на 5 метрів і чекає.
Незважаючи на простоту, він демонструє основні принципи використання offboard control і способи надсилання команд транспортному засобу.
@@ -22,7 +22,7 @@ To subscribe to data coming from nodes that publish in a different frame (for ex
## Випробування
Follow the instructions in [ROS 2 User Guide](../ros2/user_guide.md) to install PX and run the simulator, install ROS 2, and start the XRCE-DDS Agent.
Follow the instructions in [ROS 2 User Guide](../ros2/user_guide.md) to install PX and run the multicopter simulator, install ROS 2, and start the XRCE-DDS Agent.
After that we can follow a similar set of steps to those in [ROS 2 User Guide > Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) to run the example.

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@@ -348,6 +348,7 @@ private:
- [MulticopterGotoSetpointType](#go-to-setpoint-multicoptergotosetpointtype): <Badge type="warning" text="MC only" /> Smooth position and (optionally) heading control
- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="warning" text="FW only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
- DirectActuatorsSetpointType: Пряме керування моторами та установками сервоприводів польотних поверхонь
- [Rover Setpoints](#rover-setpoints): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct access to rover control setpoints (Position, Speed, Attitude, Rate, Throttle and Steering).
:::tip
The other setpoint types are currently experimental, and can be found in: [px4_ros2/control/setpoint_types/experimental](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental).
@@ -359,6 +360,8 @@ The other setpoint types are currently experimental, and can be found in: [px4_r
<Badge type="warning" text="MC only" />
<Badge type="warning" text="Multicopter only" />
:::info
This setpoint type is currently only supported for multicopters.
:::
@@ -552,6 +555,40 @@ and [`FW_THR_MAX`](../advanced_config/parameter_reference.md#FW_THR_MAX).
Якщо ви хочете керувати клапаном, який не контролює рух транспортного засобу, але, наприклад, сервопривід навантаження, подивіться нижче.
:::
#### Rover Setpoints
<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
The rover modules use a hierarchical structure to propagate setpoints:
![Rover Control Structure](../../assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg)
:::info
The "highest" setpoint that is provided will be used within the PX4 rover modules to generate the setpoints that are below it (Overriding them!).
With this hierarchy there are clear rules for providing a valid control input:
- Provide a position setpoint, **or**
- One of the setpoints on the "left" (speed **or** throttle) **and** one of the setpoints on the "right" (attitude, rate **or** steering). All combinations of "left" and "right" setpoints are valid.
For ease of use we expose these valid combinations as new SetpointTypes.
:::
The RoverSetpointTypes exposed through the control interface are combinations of these setpoints that lead to a valid control input:
| SetpointType | Положення | Speed | Тяга | Attitude | Rate | Steering | Control Flags |
| ----------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------------ |
| [RoverPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverPositionSetpointType.html#details) | &check; | (&check;) | (&check;) | (&check;) | (&check;) | (&check;) | Position, Velocity, Attitude, Rate, Control Allocation |
| [RoverSpeedAttitude](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverSpeedAttitudeSetpointType.html) | | &check; | (&check;) | &check; | (&check;) | (&check;) | Velocity, Attitude, Rate, Control Allocation |
| [RoverSpeedRate](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverSpeedRateSetpointType.html) | | &check; | (&check;) | | &check; | (&check;) | Velocity, Rate, Control Allocation |
| [RoverSpeedSteering](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverSpeedSteeringSetpointType.html) | | &check; | (&check;) | | | &check; | Velocity, Control Allocation |
| [RoverThrottleAttitude](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverThrottleAttitudeSetpointType.html) | | | &check; | &check; | (&check;) | (&check;) | Attitude, Rate, Control Allocation |
| [RoverThrottleRate](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverThrottleRateSetpointType.html) | | | &check; | | &check; | (&check;) | Rate, Control Allocation |
| [RoverThrottleSteering](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverThrottleSteeringSetpointType.html) | | | &check; | | | &check; | Control Allocation |
&check; are the setpoints we publish, and (&check;) are generated internally by the PX4 rover modules according to the hierarchy above.
An example for a rover specific drive mode using the `RoverSpeedAttitudeSetpointType` is provided [here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/modes/rover_velocity).
### Controlling a VTOL
<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />

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@@ -9,15 +9,12 @@
[PX4 ROS 2 Інтерфейс бібліотеки](https://github.com/Auterion/px4-ros2-interface-lib) є бібліотекою C+++, яка спрощує контроль і взаємодіє з PX4 з ROS 2.
Бібліотека надає два інтерфейси високого рівня для розробників:
The library provides three high-level interfaces for developers:
1. [Control Interface](./px4_ros2_interface.md) дозволяє розробникам створювати та динамічно реєструвати режими, написані з використанням ROS 2.
Бібліотека також надає класи для надсилання різних типів налаштувань, починаючи від багаторівневих навігаційних завдань на високому рівні аж до прямого контролю приводу.
2. [Навігаційний інтерфейс](./px4_ros2_navigation_interface.md) дозволяє надсилати позицію автомобіля з позиції PX4 з ROS 2 додатків, таких як система VIO.
<!--
## Overview
-->
3. [Waypoint Missions](./px4_ros2_waypoint_missions.md) allows waypoint missions to run entirely in ROS 2.
## Встановлення в робочому просторі ROS 2

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@@ -0,0 +1,190 @@
# PX4 ROS 2 Waypoint Missions
<Badge type="tip" text="PX4 v1.16" /> <Badge type="tip" text="Multicopter (only)" /> <Badge type="warning" text="Experimental" />
The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) provides a high-level interface for executing ROS-based waypoint missions in ROS 2.
The main use-case is for creating missions where a custom behavior is required, such as a pickup action within a mission.
:::warning
ROS 2 missions are not compatible with MAVLink mission definitions, plan files, or ground stations.
They completely bypass the existing PX4 mission mode and waypoint logic, and cannot be planned or displayed within a ground station.
:::
ROS 2 waypoint missions are effectively special PX4 ROS 2 custom modes that are run based on the content of a [JSON mission definition](#mission-definition).
Mission definitions can contain actions that reference existing PX4 modes, such as Takeoff mode or RTL, and can also be extended with arbitrary custom actions written in ROS.
A [mode executor](px4_ros2_control_interface.md#mode-executor) is used to schedule the modes.
Mission definitions can be hard coded in the custom mission mode (either in code or statically loaded from a JSON string), or directly generated within the application.
They can also be dynamically loaded based on modification of a particular JSON file — this allows for building a more generic mission framework with a fixed set of custom actions.
The file can then be written by any other application, for example a HTTP or MAVFTP server.
The current implementation only supports multicopters but is designed to be extendable to any other vehicle type.
## Comparison to PX4/MAVLink Missions
There are some benefits and drawbacks to using ROS-based missions, which are provided in the following paragraphs.
### Переваги
- Allows to extend mission capabilities by registering custom actions.
- More control over how the mission is executed.
A custom trajectory executor can be implemented, which can use any of the existing PX4 setpoint types to track the trajectory.
- Reduced complexity on the flight controller side by running non-safety-critical and non-real-time code on a more high-level companion computer.
- It can be extended to support other trajectory types, like Bezier or Dubin curves.
### Drawbacks
- QGroundControl currently does not display the mission or progress during execution, and cannot upload or download a mission.
Therefore you will need another mechanism to provide a mission, such as from a web server, a custom GCS, or by generating it directly inside the application.
- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-gotosetpointtype), which only works for multicopters, and VTOL in MC mode).
It is designed to be extendable to any other vehicle type.
## Загальний огляд
This diagram provides a conceptual overview of the main classes and their interactions:
![Waypoint missions overview diagram](../../assets/middleware/ros2/px4_ros2_interface_lib/waypoint_missions.svg)
<!-- Source: https://drive.google.com/file/d/1BXx4fegVE71eq0kDMMuRnhcLnJeDawWe/view?usp=sharing -->
Missions can be defined in [JSON](#mission-definition), either as a file, or directly inside the application.
There is a file change monitor (`MissionFileMonitor`), that can be used to automatically load a mission from a specific file whenever it is created by another application (e.g. upload via MAVFTP or a cloud service).
The **`MissionExecutor`** class contains the state machine to progress the mission index, and is at the core of the implementation:
- Internally, it builds on top of the [Modes and Mode Executors](px4_ros2_control_interface.md#overview) and registers itself through a custom mode and executor with PX4.
- It handles switching in and out of missions: it gets activated when the user switches to the custom mode that represents the mission and the vehicle is armed.
The mode name can be customized (`My Mission` in the example below).
The mission can be paused, which makes the vehicle switch into _Hold mode_.
To resume the mission, the custom mode has to be selected again.
- When an action switches into another mode (for example Takeoff), QGroundControl will display this mode until it is completed.
The mission executor will then automatically continue.
- Custom actions can be registered.
- The mission can be set.
It then checks that all the actions which the mission defines are available and can be run.
- The state can be stored persistently by providing a file name, allowing for battery swapping.
The **`ActionInterface`** is an interface class for custom actions.
They are identified by a name, and any number of these can be registered with the `MissionExecutor`.
A custom action is then run whenever a mission item with matching name is executed, and any extra arguments from the JSON definition are passed as arguments (for example an altitude for a takeoff action).
Actions can call other actions, run any mode (PX4 or external by its ID), run a trajectory, or run any other external action before deciding when to continue the mission.
There is a set of default actions, for example for RTL, Land, etc.
These simply trigger the corresponding PX4 mode.
They can be disabled or replaced with custom implementations.
There are also some special actions (which can be replaced as well):
- `OnFailure`: this is called in case of a failure, e.g. a mode switch failed, a non-existing action is called (by another action) or by an explicit call to `MissionExecutor::abort()`.
The default is to run RTL, with fallback to Land.
- `OnResume`: this is called when resuming a mission (either from the ground or in-air).
It handles a number of cases:
- when called with an argument `action="storeState"`: this can be used to store the current position when the mission is deactivated, so it can be resumed from the same position.
Currently it does not store anything.
- otherwise, when called without a valid mission index or 0, it directly continues.
- otherwise, when called while in-air, it also directly continues.
- otherwise, if landed and if the current mission item is an action that supports resuming from landed, it continues to let the action handle the resuming.
- otherwise, if landed, it finds the takeoff action from the mission, runs it, and then flies to the previous waypoint from the current index to continue the mission.
- `ChangeSettings`: this can be used to change the mission settings, such as the velocity.
The settings are applied to all following items in the mission.
The **`TrajectoryExecutorInterface`** is an interface class to execute segments of a trajectory.
It can use any setpoint that PX4 and the current vehicle supports for tracking the trajectory.
This class is vehicle-type specific.
The current default implementation (`multicopter::WaypointTrajectoryExecutor`) uses a Goto setpoint (and thus is limited to multicopters).
The default can be replaced with a custom implementation.
## Використання
The following provides a small example.
It defines a custom action and a mission that uses it.
```c++
class CustomAction : public px4_ros2::ActionInterface {
public:
CustomAction(px4_ros2::ModeBase & mode) : _node(mode.node()) { }
std::string name() const override {return "customAction";}
void run(
const std::shared_ptr<px4_ros2::ActionHandler> & handler,
const px4_ros2::ActionArguments & arguments,
const std::function<void()> & on_completed) override
{
RCLCPP_INFO(_node.get_logger(), "Running custom action");
// Do something...
on_completed();
}
private:
rclcpp::Node & _node;
};
class MyMission {
public:
MyMission(const std::shared_ptr<rclcpp::Node> & node) : _node(node)
{
const auto mission = px4_ros2::Mission(nlohmann::json::parse(R"(
{
"version": 1,
"mission": {
"items": [
{
"type": "takeoff"
},
{
"type": "navigation",
"navigationType": "waypoint",
"x": 47.3977419,
"y": 8.5455939,
"z": 500,
"frame": "global"
},
{
"type": "navigation",
"navigationType": "waypoint",
"x": 47.39791657,
"y": 8.54595214,
"z": 500,
"frame": "global"
},
{
"type": "customAction"
},
{
"type": "rtl"
}
]
}
}
)"));
_mission_executor = std::make_unique<px4_ros2::MissionExecutor>("My Mission",
px4_ros2::MissionExecutor::Configuration().addCustomAction<CustomAction>(), *node);
if (!_mission_executor->doRegister()) {
throw std::runtime_error("Failed to register mission executor");
}
_mission_executor->setMission(mission);
_mission_executor->onProgressUpdate([&](int current_index) {
RCLCPP_INFO(_node->get_logger(), "Current mission index: %i", current_index);
});
_mission_executor->onCompleted([&] {
RCLCPP_INFO(_node->get_logger(), "Mission completed callback");
});
}
private:
std::shared_ptr<rclcpp::Node> _node;
std::unique_ptr<px4_ros2::MissionExecutor> _mission_executor;
};
```
A full example with a few custom actions can be found under [github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/modes/mission/include](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/modes/mission/include).
## Mission Definition
The mission JSON file can contain mission defaults and a list of mission items, including user-defined types with custom arguments.
Waypoint coordinates currently need to be defined in global frame, and other frame types might be added in future.
The schema can be found under [github.com/Auterion/px4-ros2-interface-lib/blob/main/mission/schema.yaml](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/mission/schema.yaml).
It provides more details and can be used to validate a JSON file.

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@@ -20,6 +20,8 @@ See [Simulation](../simulation/index.md) for general information about simulator
Gazebo Harmonic is installed by default on Ubuntu 22.04 as part of the normal [development environment setup](../dev_setup/dev_env_linux_ubuntu.md#simulation-and-nuttx-pixhawk-targets).
Gazebo versions Harmonic, Ionic, and Jetty are supported on Ubuntu 24.04. The latest installed Gazebo release is used by default.
:::info
The PX4 installation scripts are based on the instructions: [Binary Installation on Ubuntu](https://gazebosim.org/docs/harmonic/install_ubuntu/) (gazebosim.org).
:::
@@ -48,22 +50,23 @@ make px4_sitl gz_x500
The supported vehicles and `make` commands are listed below.
Note that all gazebo make targets have the prefix `gz_`.
| Транспортний засіб | Команда | `PX4_SYS_AUTOSTART` |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------- | ------------------- |
| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 |
| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 |
| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 |
| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 |
| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 |
| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 |
| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 |
| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_r1_rover` | 4009 |
| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 4012 |
| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 |
| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 |
| Транспортний засіб | Команда | `PX4_SYS_AUTOSTART` |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------- | ------------------- |
| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 |
| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 |
| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 |
| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 |
| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 |
| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 |
| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 |
| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 |
| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 |
| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_rover_differential` | 50000 |
| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 51000 |
| [Mecanum Rover](../sim_gazebo_gz/vehicles.md#mecanum-rover) | `make px4_sitl gz_rover_mecanum` | 52000 |
All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.

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@@ -185,7 +185,7 @@ make px4_sitl gz_tiltrotor
[Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_r1_rover
make px4_sitl gz_rover_differential
```
![Differential Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_differential.png)
@@ -199,3 +199,13 @@ make px4_sitl gz_rover_ackermann
```
![Ackermann Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_ackermann.png)
### Mecanum Rover
[Mecanum Rover](../frames_rover/index.md#mecanum) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_rover_mecanum
```
![Mecanum Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_mecanum.png)