用ros 实现一个无人机飞点程序
时间: 2024-04-21 19:23:56 浏览: 170
基于ROS的无人机飞行控制系统
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好的,下面是一个简单的基于ROS的无人机飞点程序,它可以让无人机从初始位置飞到目标点并降落。需要注意的是,这个程序只是一个示例,实际应用中需要根据具体的硬件和场景进行适当的修改和调整。
1. 安装ROS和相关依赖
首先需要安装ROS和相关依赖,例如mavros和mavlink等。
2. 连接无人机
将无人机连接到电脑,启动mavros节点,建立与无人机的通信。
3. 编写飞点程序
```python
#!/usr/bin/env python
import rospy
from mavros_msgs.msg import State
from mavros_msgs.srv import SetMode, CommandBool
from geometry_msgs.msg import PoseStamped
from math import sqrt, pow
class Drone:
def __init__(self):
rospy.init_node('drone_node')
self.current_state = State()
self.target_position = PoseStamped()
self.local_position = PoseStamped()
self.current_yaw = 0.0
self.yaw_tolerance = 0.1
self.position_tolerance = 0.2
self.rate = rospy.Rate(10)
# Subscribe to state and local position topics
rospy.Subscriber('/mavros/state', State, self.state_callback)
rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.local_position_callback)
# Set up services for arming and setting mode
self.set_mode_client = rospy.ServiceProxy('/mavros/set_mode', SetMode)
self.arm_client = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
# Set up publisher for sending target position
self.target_position_pub = rospy.Publisher('/mavros/setpoint_position/local', PoseStamped, queue_size=10)
def state_callback(self, msg):
self.current_state = msg
def local_position_callback(self, msg):
self.local_position = msg
def set_target_position(self, x, y, z, yaw):
self.target_position.pose.position.x = x
self.target_position.pose.position.y = y
self.target_position.pose.position.z = z
self.current_yaw = yaw
def distance_to_target(self):
dx = self.target_position.pose.position.x - self.local_position.pose.position.x
dy = self.target_position.pose.position.y - self.local_position.pose.position.y
dz = self.target_position.pose.position.z - self.local_position.pose.position.z
return sqrt(pow(dx, 2) + pow(dy, 2) + pow(dz, 2))
def yaw_difference(self):
dyaw = self.current_yaw - self.get_local_yaw()
if dyaw > 3.14159:
dyaw -= 2*3.14159
elif dyaw < -3.14159:
dyaw += 2*3.14159
return dyaw
def get_local_yaw(self):
orientation_q = self.local_position.pose.orientation
orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]
_, _, yaw = euler_from_quaternion(orientation_list)
return yaw
def arm(self):
self.arm_client(True)
def disarm(self):
self.arm_client(False)
def set_mode(self, mode):
self.set_mode_client(custom_mode=mode)
def set_target_yaw(self, yaw):
self.current_yaw = yaw
def send_target_position(self):
self.target_position_pub.publish(self.target_position)
def move_to_target_position(self):
# Arm the drone
self.arm()
# Wait for connection to be established
while not self.current_state.connected:
self.rate.sleep()
# Set mode to guided
self.set_mode('GUIDED')
# Wait for mode to be set
while not self.current_state.mode == 'GUIDED':
self.rate.sleep()
# Move to target position
self.set_target_yaw(0.0)
self.set_target_position(0.0, 0.0, 2.0, 0.0)
while self.distance_to_target() > self.position_tolerance:
self.send_target_position()
self.rate.sleep()
# Rotate to target yaw
self.set_target_yaw(1.57)
while abs(self.yaw_difference()) > self.yaw_tolerance:
self.send_target_position()
self.rate.sleep()
# Move to target position
self.set_target_position(2.0, 0.0, 2.0, 1.57)
while self.distance_to_target() > self.position_tolerance:
self.send_target_position()
self.rate.sleep()
# Move to ground level
self.set_target_position(2.0, 0.0, 0.0, 1.57)
while self.distance_to_target() > self.position_tolerance:
self.send_target_position()
self.rate.sleep()
# Disarm the drone
self.disarm()
```
在这个程序中,我们首先定义了一个名为 Drone 的类,用来封装无人机的状态、目标位置和相关操作。在类的初始化函数中,我们初始化了ROS节点,设置了状态和位置的回调函数,以及一些参数和服务。
在类中,我们定义了一些函数来实现无人机的控制。例如,set_target_position() 函数用来设置目标位置,distance_to_target() 函数用来计算当前位置和目标位置之间的距离,yaw_difference() 函数用来计算当前偏航角和目标偏航角之间的差距等。
最后,在 move_to_target_position() 函数中,我们实现了无人机从初始位置飞到目标点并降落的过程。具体来说,我们首先将无人机解锁并设置为 GUIDED 模式,然后将无人机移动到目标位置,旋转到目标偏航角,再次移动到目标位置并降落,最后将无人机锁定。在这个过程中,我们使用了上述函数来控制无人机的位置和姿态,并使用 send_target_position() 函数将目标位置发送到无人机。
4. 运行程序
在完成程序编写后,运行程序并观察无人机的运动。需要注意的是,实际应用中需要根据具体的硬件和场景进行适当的修改和调整。同时,需要注意安全,确保无人机的飞行不会危及人员和财产安全。
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