Gazebo 机型

本话题列出/展示 PX4 Gazebo 仿真支持的机型以及运行这些机型所需的 make 指令(在 Fimeware 目录下启动一个终端来运行这些指令)。

支持的机型种类包括:多旋翼、VTOL、尾座式 VTOL、固定翼、无人车、潜艇/无人水下航行器。

使用命令 make px4_sitl list_vmd_make_targets 获取构建目标的完整列表(你还可以过滤掉以 gazebo_ 开头的目标)。

Gazebo 页面展示了如何安装 Gazebo、如何启用视频并加载自定义地图以及许多其他的配置选项。

Multicopter

Quadrotor (Default)

make px4_sitl gazebo

Quadrotor with Optical Flow

make px4_sitl gazebo_iris_opt_flow

3DR Solo (Quadrotor)

make px4_sitl gazebo_solo

3DR Solo 的 Gazebo 仿真

Typhoon H480 (Hexrotor)

make px4_sitl gazebo_typhoon_h480

Typhoon H480 的 Gazebo 仿真

此机型还支持视频流仿真

Plane/Fixed Wing

Standard Plane

make px4_sitl gazebo_plane

固定翼的 Gazebo 仿真

Standard Plane with Catapult Launch

make px4_sitl gazebo_plane_catapult

This model simulates hand/catapult launch, which can be used for fixed wing takeoff in position mode, takeoff mode, or missions.

The plane will automatically be launched as soon as the vehicle is armed.

VTOL

Standard VTOL

make px4_sitl gazebo_standard_vtol

Standard VTOL in Gazebo

Tailsitter VTOL

make px4_sitl gazebo_tailsitter

Tailsitter VTOL in Gazebo

Unmmanned Ground Vehicle (UGV/Rover/Car)

Ackerman UGV

make px4_sitl gazebo_rover

Rover in Gazebo

Differential UGV

make px4_sitl gazebo_r1_rover

Rover in Gazebo

Unmanned Underwater Vehicle (UUV/Submarine)

HippoCampus TUHH UUV

make px4_sitl gazebo_uuv_hippocampus

Submarine/UUV

Unmanned Surface Vehicle (USV/Boat)

Boat

make px4_sitl gazebo_boat

Boat/USV

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