如何在Ubuntu 20.04上快速部署PX4-Avoidance完整安装教程【免费下载链接】PX4-AvoidancePX4 avoidance ROS node for obstacle detection and avoidance.项目地址: https://gitcode.com/gh_mirrors/px/PX4-AvoidancePX4-Avoidance是一个基于ROS的无人机避障系统提供了本地规划器、全局规划器和安全着陆规划器三种避障算法可帮助无人机实现实时障碍物检测与自主避障功能。本教程将详细介绍如何在Ubuntu 20.04系统上快速部署PX4-Avoidance从环境准备到仿真测试让你轻松掌握无人机避障系统的搭建方法。一、准备工作系统环境与依赖安装1.1 安装ROS NoeticPX4-Avoidance需要ROS环境支持Ubuntu 20.04推荐安装ROS Noetic版本# 添加ROS源 sudo sh -c echo deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main /etc/apt/sources.list.d/ros-latest.list sudo apt install curl curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - sudo apt update # 安装ROS桌面完整版包含Gazebo模拟器 sudo apt install ros-noetic-desktop-full # 设置环境变量 echo source /opt/ros/noetic/setup.bash ~/.bashrc source ~/.bashrc1.2 安装基础依赖工具# 安装ROS构建工具 sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential # 初始化rosdep sudo apt install python3-rosdep sudo rosdep init rosdep update # 安装catkin工具 sudo apt install python3-catkin-tools1.3 安装MAVROS与地理数据集MAVROS用于无人机与地面站的通信是PX4与ROS之间的桥梁# 安装MAVROS sudo apt install ros-noetic-mavros ros-noetic-mavros-extras # 安装地理信息数据集 wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh chmod x install_geographiclib_datasets.sh sudo ./install_geographiclib_datasets.sh1.4 安装避障系统依赖PX4-Avoidance需要点云库和八叉树地图等依赖sudo apt install libpcl1 ros-noetic-octomap-*二、编译PX4-Avoidance源码2.1 创建工作空间并克隆代码# 创建catkin工作空间 mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src # 克隆PX4-Avoidance源码 git clone https://gitcode.com/gh_mirrors/px/PX4-Avoidance2.2 编译项目# 编译整个工作空间 catkin build -w ~/catkin_ws # 设置环境变量 echo source ~/catkin_ws/devel/setup.bash ~/.bashrc source ~/.bashrc提示如果需要发布模式编译优化性能可使用命令catkin build -w ~/catkin_ws --cmake-args -DCMAKE_BUILD_TYPERelease三、配置PX4固件与Gazebo仿真环境3.1 安装PX4固件# 克隆PX4固件源码 cd ~ git clone https://github.com/PX4/Firmware.git --recursive cd ~/Firmware # 安装PX4依赖 ./Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx # 安装Gstreamer插件用于仿真相机 sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev3.2 初始化仿真环境# 编译并运行一次仿真生成SDF模型文件 export QT_X11_NO_MITSHM1 make px4_sitl_default gazebo # 运行后按CtrlC退出 # 设置Gazebo环境变量 echo . ~/Firmware/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default ~/.bashrc echo export GAZEBO_MODEL_PATH\${GAZEBO_MODEL_PATH}:~/catkin_ws/src/PX4-Avoidance/avoidance/sim/models:~/catkin_ws/src/PX4-Avoidance/avoidance/sim/worlds ~/.bashrc echo export ROS_PACKAGE_PATH\${ROS_PACKAGE_PATH}:~/Firmware ~/.bashrc source ~/.bashrc四、运行避障仿真测试4.1 本地规划器仿真推荐本地规划器local_planner基于3DVFH算法计算资源需求低适合实时避障场景。支持多种传感器配置4.1.1 立体相机配置roslaunch local_planner local_planner_stereo.launch4.1.2 深度相机配置roslaunch local_planner local_planner_depth-camera.launch4.1.3 三相机配置前、左、右roslaunch local_planner local_planner_sitl_3cam.launch启动后在新终端中执行以下命令使无人机进入OFFBOARD模式并解锁rosrun mavros mavsys mode -c OFFBOARD rosrun mavros mavsafety arm无人机将先上升到目标高度可通过rqt_reconfigure工具调整目标高度参数在RViz中点击2D Nav Goal按钮设置目标点无人机将自主规划路径并避障4.2 全局规划器仿真全局规划器global_planner基于八叉树地图可规划全局最优路径但计算资源需求较高roslaunch global_planner global_planner_stereo.launch启动后会看到无人机在森林环境中同样通过OFFBOARD模式解锁rosrun mavros mavsys mode -c OFFBOARD rosrun mavros mavsafety arm无人机将先悬停在3.5米高度在RViz中设置目标点后系统会生成避障路径五、常见问题解决5.1 Gazebo中无相机数据检查相机话题是否发布rostopic list | grep camera若缺少/camera/depth/points话题需安装Gazebo ROS插件sudo apt install ros-noetic-gazebo-ros-pkgs5.2 无人机不响应目标点确保无人机已进入OFFBOARD模式并解锁# 检查模式 rosrun mavros mavsys mode -c OFFBOARD # 解锁 rosrun mavros mavsafety arm5.3 避障路径规划异常可通过rqt_reconfigure工具调整避障参数rosrun rqt_reconfigure rqt_reconfigure六、项目结构与扩展PX4-Avoidance项目主要包含三个核心模块本地规划器local_planner/ - 实时避障算法适合资源有限的平台全局规划器global_planner/ - 基于地图的全局路径规划安全着陆规划器safe_landing_planner/ - 地形分析与安全着陆点检测每个模块都提供了配置文件和启动脚本可根据实际需求修改参数或扩展功能。总结通过本教程你已成功在Ubuntu 20.04上部署了PX4-Avoidance避障系统并通过Gazebo仿真验证了其功能。该系统支持多种传感器配置和避障算法可根据实际应用场景选择合适的方案。如需在硬件上运行还需配置相应的深度相机和飞控参数。【免费下载链接】PX4-AvoidancePX4 avoidance ROS node for obstacle detection and avoidance.项目地址: https://gitcode.com/gh_mirrors/px/PX4-Avoidance创作声明：本文部分内容由AI辅助生成（AIGC），仅供参考