agi_sim_planner_px4

A repo. which used to check PnC algorithms using PX4-Gazebo simulation tools.

Prerequisites

• ros1 noetic
• px4_firmware
• QGC
• nlopt

Run

Copy data in folder sim_tools to px4_firmware.

git clone [email protected]:zhan994/agi_sim_px4_ros1.git

cd agi_sim_px4_ros1/sim_tools
# 添加launch文件
cp launch/* ~/work/px4_firmware/launch/
# 添加世界文件
cp worlds/* ~/work/px4_firmware/Tools/sitl_gazebo/worlds/
# 修改部分模型文件
cp -r models/* ~/work/px4_firmware/Tools/sitl_gazebo/models/ 

Move QGC to px4_firmware folder, and run scipts.

source scripts/px4_env.sh
./scripts/qgc.sh
roslaunch px4 demo1.launch

Fast-Planner

Build nlopt.

cd third/nlopt
mkdir build && cmake ..
make
sudo make install

cd fast_planner
catkin_make
source devel/setup.bash
./fast.sh

EGO-Planner-V2

cd ego_planner_v2
catkin_make
source devel/setup.bash
./ego.sh