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PX4와 Mavlink로를 연동하여 군집드론 시뮬레이션하는 방법
PX4와 Mavlink로를 연동하여 군집드론 시뮬레이션하는 방법
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이 과정은 px4의 공식문서를 참고해서 작성하였다.
https://docs.px4.io/master/en/simulation/multi_vehicle_simulation_gazebo.html
Multiple Vehicle with Gazebo(bash)
먼저 SITL 설치 및 컴파일 관련하여 아래 포스팅 과정이 수행이 되어야 한다.
https://swiftcam.tistory.com/407
Offboard 제어에 필요한 소스코드를 다운받는다.
swift@swift-System-Product-Name:~/workspace/catkin_ws$ git clone https://github.com/Jaeyoung-Lim/mavros_controllers.git Cloning into 'mavros_controllers'... remote: Enumerating objects: 1670, done. remote: Counting objects: 100% (139/139), done. remote: Compressing objects: 100% (113/113), done. remote: Total 1670 (delta 69), reused 71 (delta 12), pack-reused 1531 Receiving objects: 100% (1670/1670), 331.36 KiB | 1.67 MiB/s, done. Resolving deltas: 100% (920/920), done. swift@swift-System-Product-Name:~/workspace/catkin_ws$ swift@swift-System-Product-Name:~/workspace/catkin_ws$ swift@swift-System-Product-Name:~/workspace/catkin_ws$ cm Base path: /home/swift/workspace/catkin_ws Source space: /home/swift/workspace/catkin_ws/src Build space: /home/swift/workspace/catkin_ws/build Devel space: /home/swift/workspace/catkin_ws/devel Install space: /home/swift/workspace/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/swift/workspace/catkin_ws/build" #### #### #### Running command: "make -j12 -l12" in "/home/swift/workspace/catkin_ws/build" #### [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target geometry_msgs_generate_messages_cpp [ 1%] Built target pub_setpoints_traj [ 1%] Built target test_setpoints_traj [ 1%] Built target pub_setpoints_att [ 1%] Built target sensor_msgs_generate_messages_cpp [ 1%] Built target pub_setpoints_pos [ 1%] Built target geometry_msgs_generate_messages_eus [ 1%] Built target std_msgs_generate_messages_nodejs [ 1%] Built target sensor_msgs_generate_messages_nodejs [ 1%] Built target std_msgs_generate_messages_eus [ 1%] Built target sensor_msgs_generate_messages_eus [ 1%] Built target events_header [ 1%] Built target std_msgs_generate_messages_lisp [ 1%] Built target geometry_msgs_generate_messages_lisp [ 1%] Built target sensor_msgs_generate_messages_lisp [ 1%] Built target uorb_headers [ 1%] Built target geometry_msgs_generate_messages_nodejs [ 1%] Built target flighttasks_generated [ 1%] Built target _controller_msgs_generate_messages_check_deps_FlatTarget [ 1%] Built target drivers_board [ 1%] Built target ver_gen [ 1%] Built target generate_topic_listener [ 2%] Built target parameters_xml [ 2%] Built target mixer_gen_6dof [ 3%] Built target git_gps_devices [ 4%] Built target mixer_gen [ 4%] Built target visualization_msgs_generate_messages_py [ 3%] Built target git_mavlink_v2 [ 4%] Built target roscpp_generate_messages_cpp [ 5%] Generating ../../logs [ 5%] Built target roscpp_generate_messages_py [ 5%] Built target roscpp_generate_messages_eus [ 5%] Built target roscpp_generate_messages_nodejs [ 5%] Built target rosgraph_msgs_generate_messages_nodejs [ 5%] Built target rosgraph_msgs_generate_messages_eus [ 5%] Built target rosgraph_msgs_generate_messages_cpp [ 5%] Built target rosgraph_msgs_generate_messages_lisp [ 5%] Built target logs_symlink [ 5%] Built target roscpp_generate_messages_lisp [ 5%] Built target rosgraph_msgs_generate_messages_py [ 5%] Built target nav_msgs_generate_messages_lisp [ 5%] Built target visualization_msgs_generate_messages_nodejs [ 5%] Built target trajectory_msgs_generate_messages_py [ 5%] Built target nav_msgs_generate_messages_py [ 5%] Built target actionlib_generate_messages_eus [ 5%] Built target tf_generate_messages_lisp [ 5%] Built target mavros_msgs_generate_messages_eus [ 5%] Built target nav_msgs_generate_messages_eus [ 5%] Built target geographic_msgs_generate_messages_cpp [ 5%] Built target diagnostic_msgs_generate_messages_eus [ 5%] Built target diagnostic_msgs_generate_messages_cpp [ 5%] Built target geographic_msgs_generate_messages_nodejs [ 5%] Built target tf2_msgs_generate_messages_cpp [ 5%] Built target tf_generate_messages_eus [ 5%] Built target geographic_msgs_generate_messages_eus [ 5%] Built target tf2_msgs_generate_messages_nodejs [ 5%] Built target actionlib_generate_messages_cpp [ 5%] Built target geographic_msgs_generate_messages_lisp [ 5%] Built target actionlib_generate_messages_py [ 5%] Built target diagnostic_msgs_generate_messages_lisp [ 5%] Built target trajectory_msgs_generate_messages_cpp [ 5%] Built target actionlib_generate_messages_lisp [ 5%] Built target tf_generate_messages_cpp [ 5%] Built target visualization_msgs_generate_messages_cpp [ 5%] Built target actionlib_generate_messages_nodejs [ 5%] Built target actionlib_msgs_generate_messages_cpp [ 5%] Built target tf2_msgs_generate_messages_eus [ 5%] Built target tf2_msgs_generate_messages_py [ 5%] Built target tf_generate_messages_nodejs [ 5%] Built target mavros_msgs_generate_messages_cpp [ 5%] Built target trajectory_msgs_generate_messages_eus [ 5%] Built target trajectory_msgs_generate_messages_nodejs [ 5%] Built target mavros_msgs_generate_messages_lisp [ 5%] Built target actionlib_msgs_generate_messages_py [ 5%] Built target actionlib_msgs_generate_messages_lisp [ 5%] Built target tf_generate_messages_py [ 5%] Built target tf2_msgs_generate_messages_lisp [ 5%] Built target actionlib_msgs_generate_messages_nodejs [ 5%] Built target actionlib_msgs_generate_messages_eus [ 5%] Built target nav_msgs_generate_messages_nodejs [ 5%] Built target geographic_msgs_generate_messages_py [ 5%] Built target diagnostic_msgs_generate_messages_py [ 5%] Built target uuid_msgs_generate_messages_eus [ 5%] Built target uuid_msgs_generate_messages_lisp [ 5%] Built target uuid_msgs_generate_messages_cpp [ 5%] Built target diagnostic_msgs_generate_messages_nodejs [ 5%] Built target mavros_msgs_generate_messages_py [ 5%] Built target trajectory_msgs_generate_messages_lisp [ 5%] Built target uuid_msgs_generate_messages_nodejs [ 5%] Built target uuid_msgs_generate_messages_py [ 5%] Built target visualization_msgs_generate_messages_eus [ 5%] Built target mavros_msgs_generate_messages_nodejs [ 5%] Built target visualization_msgs_generate_messages_lisp [ 5%] Built target nav_msgs_generate_messages_cpp [ 5%] Built target dynamic_reconfigure_generate_messages_lisp [ 5%] Built target dynamic_reconfigure_gencfg [ 5%] Built target dynamic_reconfigure_generate_messages_cpp [ 5%] Built target dynamic_reconfigure_generate_messages_nodejs [ 5%] Built target geometric_controller_gencfg [ 5%] Built target dynamic_reconfigure_generate_messages_py [ 5%] Built target dynamic_reconfigure_generate_messages_eus [ 5%] Built target controller_msgs_generate_messages_py [ 6%] Built target controller_msgs_generate_messages_eus [ 6%] Built target controller_msgs_generate_messages_nodejs [ 6%] Built target controller_msgs_generate_messages_lisp [ 6%] Built target perf [ 6%] Built target controller_msgs_generate_messages_cpp [ 6%] Built target tinybson [ 8%] Built target work_queue [ 8%] Built target geo [ 8%] Built target MixerBase [ 8%] Built target rc [ 9%] Built target output_limit [ 9%] Built target version [ 9%] Built target wind_estimator [ 9%] Built target world_magnetic_model [ 9%] Built target events_json [ 9%] Built target controller_msgs_generate_messages [ 9%] Built target geometric_controller [ 10%] Built target MultirotorMixer [ 10%] Built target AllocatedActuatorMixer [ 10%] Built target HelicopterMixer [ 12%] Built target SimpleMixer [ 12%] Built target NullMixer [ 12%] Built target component_general_json [ 13%] Built target 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modules__mc_rate_control [ 85%] Built target examples__fake_magnetometer [ 85%] Built target FlightTaskUtility [ 85%] Built target modules__mc_pos_control [ 86%] Built target modules__fake_imu [ 89%] Built target modules__navigator [ 89%] Built target vehicle_acceleration [ 89%] Built target vehicle_angular_velocity [ 90%] Built target modules__simulator [ 91%] Built target vehicle_imu [ 91%] Built target vehicle_magnetometer [ 93%] Built target PreFlightCheck [ 94%] Built target FlightTaskManualAltitude [ 94%] Built target FlightTaskAuto [ 94%] Built target modules__sensors [ 96%] Built target modules__commander [ 97%] Built target FlightTaskAutoMapper [ 97%] Built target FlightTaskManualAltitudeSmoothVel [ 97%] Built target FlightTaskManualPosition [ 97%] Built target FlightTaskAutoFollowMe [100%] Built target modules__mavlink [100%] Built target FlightTaskManualAcceleration [100%] Built target FlightTaskManualPositionSmoothVel [100%] Built target FlightTaskAutoLineSmoothVel [100%] 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./Tools/gazebo_sitl_multiple_run.sh
: The vehicle type/model to spawn, e.g.: iris (default), plane, standard_vtol.
: The number of vehicles to spawn. Default is 3. Maximum is 255.
: The world that the vehicle should be spawned into, e.g.: empty (default)
-s "iris:3,plane:2,standard_vtol:3"
: build target, e.g: px4_sitl_default (default), px4_sitl_rtps
: specific label for model, e.g: rtps
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/project/ros/catkin_ws/src/PX4-Autopilot$ ./Tools/gazebo_sitl_multiple_run.sh -n 2 killing running instances GAZEBO_PLUGIN_PATH :/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/buildpx4_sitl_default/build_gazebo:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../build/px4_sitl_default/build_gazebo GAZEBO_MODEL_PATH :/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models LD_LIBRARY_PATH /home/swift/workspace/project/ros/catkin_ws/devel/lib:/opt/ros/noetic/lib:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/buildpx4_sitl_default/build_gazebo:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../build/px4_sitl_default/build_gazebo Starting gazebo Gazebo multi-robot simulator, version 11.5.1 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.219.139 [Msg] Loading world file [/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/worlds/empty.world] starting instance 0 in /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/instance_0 /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models/iris/iris.sdf.jinja -> /tmp/iris_0.sdf Spawning iris_0 at 0.0 0 starting instance 1 in /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/instance_1 [Wrn] [gazebo_gps_plugin.cpp:78] [gazebo_gps_plugin]: iris_0::gps0 using gps topic "gps0" [Wrn] [gazebo_gps_plugin.cpp:203] [gazebo_gps_plugin] Using default update rate of 5hz /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models/iris/iris.sdf.jinja -> /tmp/iris_1.sdf Spawning iris_1 at 0.0 3 [Msg] Connecting to PX4 SITL using TCP [Msg] Lockstep is enabled [Msg] Speed factor set to: 1 [Msg] Using MAVLink protocol v2.0 starting instance 2 in /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/instance_2 [Wrn] [gazebo_gps_plugin.cpp:78] [gazebo_gps_plugin]: iris_1::gps0 using gps topic "gps0" [Wrn] [gazebo_gps_plugin.cpp:203] [gazebo_gps_plugin] Using default update rate of 5hz [Msg] Connecting to PX4 SITL using TCP [Msg] Lockstep is enabled [Msg] Speed factor set to: 1 [Msg] Using MAVLink protocol v2.0 /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models/iris/iris.sdf.jinja -> /tmp/iris_2.sdf Spawning iris_2 at 0.0 6 Starting gazebo client [Wrn] [gazebo_gps_plugin.cpp:78] [gazebo_gps_plugin]: iris_2::gps0 using gps topic "gps0" [Wrn] [gazebo_gps_plugin.cpp:203] [gazebo_gps_plugin] Using default update rate of 5hz [Msg] Connecting to PX4 SITL using TCP [Msg] Lockstep is enabled [Msg] Speed factor set to: 1 [Msg] Using MAVLink protocol v2.0
새 창에서 Offboard 명령을 수행합니다.
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace$ roslaunch geometric_controller sitl_multi_vehicle_track_circle.launch ... logging to /home/swift/.ros/log/2cd5be0e-035e-11ec-a5b5-2dfbbf88ca0d/roslaunch-swift-HP-Pavilion-dv6-Notebook-PC-72638.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://swift-HP-Pavilion-dv6-Notebook-PC:33427/ SUMMARY ======== CLEAR PARAMETERS * /uav0/mavros/ * /uav1/mavros/ PARAMETERS * /rosdistro: noetic * /rosversion: 1.15.11 * /uav0/geometric_controller/Kp_x: 8.0 * /uav0/geometric_controller/Kp_y: 8.0 * /uav0/geometric_controller/Kp_z: 10.0 * /uav0/geometric_controller/ctrl_mode: 2 * /uav0/geometric_controller/enable_gazebo_state: True * /uav0/geometric_controller/enable_sim: True * /uav0/geometric_controller/max_acc: 10.0 * /uav0/mavros/cmd/use_comp_id_system_control: False * /uav0/mavros/conn/heartbeat_rate: 1.0 * /uav0/mavros/conn/system_time_rate: 1.0 * /uav0/mavros/conn/timeout: 10.0 * /uav0/mavros/conn/timesync_rate: 1.0 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /uav0/mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /uav0/mavros/distance_sensor/laser_1_sub/id: 3 * /uav0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270 * /uav0/mavros/distance_sensor/laser_1_sub/subscriber: True * /uav0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /uav0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /uav0/mavros/distance_sensor/lidarlite_pub/id: 1 * /uav0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270 * /uav0/mavros/distance_sensor/lidarlite_pub/send_tf: True * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /uav0/mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0 * /uav0/mavros/distance_sensor/sonar_1_sub/id: 2 * /uav0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /uav0/mavros/distance_sensor/sonar_1_sub/subscriber: True * /uav0/mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0 * /uav0/mavros/fake_gps/eph: 2.0 * /uav0/mavros/fake_gps/epv: 2.0 * /uav0/mavros/fake_gps/fix_type: 3 * /uav0/mavros/fake_gps/geo_origin/alt: 408.0 * /uav0/mavros/fake_gps/geo_origin/lat: 47.3667 * /uav0/mavros/fake_gps/geo_origin/lon: 8.55 * /uav0/mavros/fake_gps/gps_rate: 5.0 * /uav0/mavros/fake_gps/mocap_transform: True * /uav0/mavros/fake_gps/satellites_visible: 5 * /uav0/mavros/fake_gps/tf/child_frame_id: fix * /uav0/mavros/fake_gps/tf/frame_id: map * /uav0/mavros/fake_gps/tf/listen: False * /uav0/mavros/fake_gps/tf/rate_limit: 10.0 * /uav0/mavros/fake_gps/tf/send: False * /uav0/mavros/fake_gps/use_mocap: True * /uav0/mavros/fake_gps/use_vision: False * /uav0/mavros/fcu_protocol: v2.0 * /uav0/mavros/fcu_url: udp://:14540@loca... * /uav0/mavros/gcs_url: * /uav0/mavros/global_position/child_frame_id: base_link * /uav0/mavros/global_position/frame_id: map * /uav0/mavros/global_position/gps_uere: 1.0 * /uav0/mavros/global_position/rot_covariance: 99999.0 * /uav0/mavros/global_position/tf/child_frame_id: base_link * /uav0/mavros/global_position/tf/frame_id: map * /uav0/mavros/global_position/tf/global_frame_id: earth * /uav0/mavros/global_position/tf/send: False * /uav0/mavros/global_position/use_relative_alt: True * /uav0/mavros/image/frame_id: px4flow * /uav0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0... * /uav0/mavros/imu/frame_id: base_link * /uav0/mavros/imu/linear_acceleration_stdev: 0.0003 * /uav0/mavros/imu/magnetic_stdev: 0.0 * /uav0/mavros/imu/orientation_stdev: 1.0 * /uav0/mavros/landing_target/camera/fov_x: 2.0071286398 * /uav0/mavros/landing_target/camera/fov_y: 2.0071286398 * /uav0/mavros/landing_target/image/height: 480 * /uav0/mavros/landing_target/image/width: 640 * /uav0/mavros/landing_target/land_target_type: VISION_FIDUCIAL * /uav0/mavros/landing_target/listen_lt: False * /uav0/mavros/landing_target/mav_frame: LOCAL_NED * /uav0/mavros/landing_target/target_size/x: 0.3 * /uav0/mavros/landing_target/target_size/y: 0.3 * /uav0/mavros/landing_target/tf/child_frame_id: camera_center * /uav0/mavros/landing_target/tf/frame_id: landing_target * /uav0/mavros/landing_target/tf/listen: False * /uav0/mavros/landing_target/tf/rate_limit: 10.0 * /uav0/mavros/landing_target/tf/send: True * /uav0/mavros/local_position/frame_id: map * /uav0/mavros/local_position/tf/child_frame_id: base_link * /uav0/mavros/local_position/tf/frame_id: map * /uav0/mavros/local_position/tf/send: False * /uav0/mavros/local_position/tf/send_fcu: False * /uav0/mavros/mission/pull_after_gcs: True * /uav0/mavros/mission/use_mission_item_int: True * /uav0/mavros/mocap/use_pose: True * /uav0/mavros/mocap/use_tf: False * /uav0/mavros/odometry/fcu/odom_child_id_des: base_link * /uav0/mavros/odometry/fcu/odom_parent_id_des: map * /uav0/mavros/plugin_blacklist: ['safety_area', '... * /uav0/mavros/plugin_whitelist: [] * /uav0/mavros/px4flow/frame_id: px4flow * /uav0/mavros/px4flow/ranger_fov: 0.118682 * /uav0/mavros/px4flow/ranger_max_range: 5.0 * /uav0/mavros/px4flow/ranger_min_range: 0.3 * /uav0/mavros/safety_area/p1/x: 1.0 * /uav0/mavros/safety_area/p1/y: 1.0 * /uav0/mavros/safety_area/p1/z: 1.0 * /uav0/mavros/safety_area/p2/x: -1.0 * /uav0/mavros/safety_area/p2/y: -1.0 * /uav0/mavros/safety_area/p2/z: -1.0 * /uav0/mavros/setpoint_accel/send_force: False * /uav0/mavros/setpoint_attitude/reverse_thrust: False * /uav0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude * /uav0/mavros/setpoint_attitude/tf/frame_id: map * /uav0/mavros/setpoint_attitude/tf/listen: False * /uav0/mavros/setpoint_attitude/tf/rate_limit: 50.0 * /uav0/mavros/setpoint_attitude/use_quaternion: False * /uav0/mavros/setpoint_position/mav_frame: LOCAL_NED * /uav0/mavros/setpoint_position/tf/child_frame_id: target_position * /uav0/mavros/setpoint_position/tf/frame_id: map * /uav0/mavros/setpoint_position/tf/listen: False * /uav0/mavros/setpoint_position/tf/rate_limit: 50.0 * /uav0/mavros/setpoint_raw/thrust_scaling: 1.0 * /uav0/mavros/setpoint_velocity/mav_frame: LOCAL_NED * /uav0/mavros/startup_px4_usb_quirk: True * /uav0/mavros/sys/disable_diag: False * /uav0/mavros/sys/min_voltage: 10.0 * /uav0/mavros/target_component_id: 1 * /uav0/mavros/target_system_id: 1 * /uav0/mavros/tdr_radio/low_rssi: 40 * /uav0/mavros/time/time_ref_source: fcu * /uav0/mavros/time/timesync_avg_alpha: 0.6 * /uav0/mavros/time/timesync_mode: MAVLINK * /uav0/mavros/vibration/frame_id: base_link * /uav0/mavros/vision_pose/tf/child_frame_id: vision_estimate * /uav0/mavros/vision_pose/tf/frame_id: odom * /uav0/mavros/vision_pose/tf/listen: False * /uav0/mavros/vision_pose/tf/rate_limit: 10.0 * /uav0/mavros/vision_speed/listen_twist: True * /uav0/mavros/vision_speed/twist_cov: True * /uav0/mavros/wheel_odometry/child_frame_id: base_link * /uav0/mavros/wheel_odometry/count: 2 * /uav0/mavros/wheel_odometry/frame_id: odom * /uav0/mavros/wheel_odometry/send_raw: True * /uav0/mavros/wheel_odometry/send_twist: False * /uav0/mavros/wheel_odometry/tf/child_frame_id: base_link * /uav0/mavros/wheel_odometry/tf/frame_id: odom * /uav0/mavros/wheel_odometry/tf/send: False * /uav0/mavros/wheel_odometry/use_rpm: False * /uav0/mavros/wheel_odometry/vel_error: 0.1 * /uav0/mavros/wheel_odometry/wheel0/radius: 0.05 * /uav0/mavros/wheel_odometry/wheel0/x: 0.0 * /uav0/mavros/wheel_odometry/wheel0/y: -0.15 * /uav0/mavros/wheel_odometry/wheel1/radius: 0.05 * /uav0/mavros/wheel_odometry/wheel1/x: 0.0 * /uav0/mavros/wheel_odometry/wheel1/y: 0.15 * /uav0/model_description:
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from http://swiftcam.tistory.com/408 by ccl(A) rewrite - 2021-08-29 10:00:40