# patrol_sim_ws

**Repository Path**: lulese/patrol_sim_ws

## Basic Information

- **Project Name**: patrol_sim_ws
- **Description**: 跑避障搭的环境
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-05-14
- **Last Updated**: 2025-06-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 总览

<img src="image/2025-05-13 23-22-55 的屏幕截图.png" style="zoom:50%;" />

<img src="image/2025-05-13 23-23-10 的屏幕截图.png" alt="2025-05-13 23-23-10 的屏幕截图" style="zoom: 50%;" />

<img src="image/2025-05-13 23-23-36 的屏幕截图.png" alt="2025-05-13 23-23-36 的屏幕截图" style="zoom:50%;" />

<img src="image/2025-05-13 23-23-46 的屏幕截图.png" alt="2025-05-13 23-23-46 的屏幕截图" style="zoom:50%;" />

无人机飞行的关键点位：

~~~
waypoints:
  - {x: 0.0, y: 0.0, z: 2.2, yaw: 0.0, pointmode: "Takeoff_point"} # takeoff，必须写在第一个
  - {x: 20.0, y: 0.0, z: 2.0, yaw: 0.0, pointmode: "Nothing_point"}
  - {x: 45.0, y: 1.0, z: 2.0, yaw: 0.0, pointmode: "Nothing_point"}
  - {x: 45.0, y: 30.0, z: 2.0, yaw: 0.0, pointmode: "Nothing_point"}
  - {x: 20.0, y: 25.0, z: 1.5, yaw: 0.0, pointmode: "Land_point"} # land，必须写在最后一个
~~~

# 编译运行

## 复制模型与launch到PX4环境

如果还没配置PX4环境，请跳转到这个教程[ubuntu20.04系统 PX4仿真环境配置教程-超简单](https://blog.csdn.net/woaixiaojiang/article/details/143490014?spm=1001.2014.3001.5502)，配置完成后，将我们的环境加进去，就可以启动本环境了：

对于PX4 1.14及以后的固件：

~~~
cp ~/patrol_sim_ws/src/models/launch/patrol_world.launch   ~/PX4-Autopilot/launch/
cp -r ~/patrol_sim_ws/src/models/iris_mid360/ ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
cp -r ~/patrol_sim_ws/src/models/mid360/ ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
~~~

对于PX4 1.13.3及以前的固件(PX4-Autopilot_1.13.3为PX4仿真文件夹，每个人可能文件夹名不一样)：

~~~
cp ~/patrol_sim_ws/src/models/launch/patrol_world.launch   ~/PX4-Autopilot_1.13.3/launch/
cp -r ~/patrol_sim_ws/src/models/iris_mid360/ ~/PX4-Autopilot_1.13.3/Tools/sitl_gazebo/models/
cp -r ~/patrol_sim_ws/src/models/mid360/ ~/PX4-Autopilot_1.13.3/Tools/sitl_gazebo/models/
~~~

## 编译功能包

~~~
cd patrol_sim_ws/
catkin_make
~~~

将本功能包加到环境中：

~~~
gedit ~/.bashrc
~~~

在这三行：

~~~
source ~/PX4-Autopilot/Tools/setup_gazebo.bash ~/PX4-Autopilot/ ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/sitl_gazebo
~~~

上面加上：

~~~
source ~/patrol_sim_ws/devel/setup.bash
~~~

####