PX4 GAZEBO无人机添加摄像头并进行图像识别
在之前完成了ROS的安装和PX4的安装，并可以通过roslaunch启动软件仿真。接下来为无人及添加相机，并将图像用python函数读取，用于后续操作
- 添加相机，参考：ROS PX4添加相机
- 读取摄像头图像
rqt_image_view
- 高级用法，自己添加model，参考：添加向下的相机
但是并没有成功，博主提供了github的链接，但不知道从何处下手。 - 添加激光雷达、前摄像头，向下摄像头，成功了。参考：添加激光雷达和摄像头
总结操作方法：
1. 修改mavros_posix_sitl.launch文件
添加内容
<arg name="my_model" default="iris_fusion">
</arg>
修改内容，注意需要修改udp的端口，否则无法获取到传感器数据
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_model)/$(arg my_model).sdf">
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf">
<arg name="fcu_url" default="udp://:14540@localhost:14557">
<arg name="fcu_url" default="udp://:24540@localhost:14557">
</arg></arg></arg></arg>
2. models文件夹下增加iris_fusion
文件夹：PX4_Firmware/Tools/sitl_gazebo/models/
- 添加文件夹iris_fusion
- 添加文件iris_fusion.sdf
<?xml version='1.0'?>
<sdf version="1.5">
<model name="iris_fpv_cam">
<include>
<uri>model://iris</uri>
</include>
<!-- Built-in depth camera -->
<include>
<uri>model://fpv_cam_self</uri>
<pose>0.1 0 0 0 0.57 0</pose>
</include>
<joint name="fpv_cam_self_joint" type="fixed">
<child>fpv_cam_self::link</child>
<parent>iris::base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<upper>0</upper>
<lower>0</lower>
</limit>
</axis>
</joint>
<include>
<uri>model://fpv_cam</uri>
<pose>0 0 0 0 1.57 0</pose>
</include>
<joint name="fpv_cam_joint" type="fixed">
<child>fpv_cam::link</child>
<parent>iris::base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<upper>0</upper>
<lower>0</lower>
</limit>
</axis>
</joint>
</model>
</sdf>
- 添加文件model.config
<?xml version="1.0"?>
<model>
<name>3DR Iris with FPV camera</name>
<version>1.0</version>
<sdf version="1.4">iris_fusion.sdf</sdf>
<author>
<name>Amy Wagoner</name>
<email>arwagoner@gmail.com</email>
</author>
<description>
This is a model of the 3DR Iris Quadrotor with an FPV camera. The original model has been created by
Thomas Gubler and is maintained by Lorenz Meier.
</description>
</model>
3. models文件夹下增加fpv_cam_self
- 添加文件夹fpv_cam_self
- 添加文件fpv_cam_self.sdf
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="fpv_cam_self">
<pose>-2 2.5 1 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>4.16666666667e-06</ixx>
<iyy>5.20833333333e-07</iyy>
<izz>3.85416666667e-06</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.023000 0.076000 0.032000</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.023000 0.076000 0.032000</size>
</box>
</geometry>
</visual>
<sensor type="depth" name="camera">
<always_on>true</always_on>
<update_rate>30.0</update_rate>
<camera>
<horizontal_fov>1.3962634</horizontal_fov>　　
<image>
<format>B8G8R8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.4</near>
<far>16.0</far>
</clip>
</camera>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwayson>true</alwayson>
<!-- Keep this zero, update_rate in the parent <sensor> tag
will control the frame rate. -->
<updaterate>0.0</updaterate>
<cameraname>camera_ir</cameraname>
<imagetopicname>/camera/image_raw</imagetopicname>
<camerainfotopicname>/camera/camera_info</camerainfotopicname>
<depthimagetopicname>/camera/depth/image_raw</depthimagetopicname>
<depthimagecamerainfotopicname>/camera/depth/camera_info</depthimagecamerainfotopicname>
<pointcloudtopicname>/camera/depth/points</pointcloudtopicname>
<framename>camera_link</framename>
<pointcloudcutoff>0.5</pointcloudcutoff>
<pointcloudcutoffmax>8.0</pointcloudcutoffmax>
<distortionk1>0</distortionk1>
<distortionk2>0</distortionk2>
<distortionk3>0</distortionk3>
<distortiont1>0</distortiont1>
<distortiont2>0</distortiont2>
<cxprime>0</cxprime>
<cx>0</cx>
<cy>0</cy>
<focallength>180</focallength>
<hackbaseline>0</hackbaseline>
</plugin>
</sensor>
<gravity>0</gravity>
</model>
</sdf>
- 添加文件model.config
<?xml version="1.0"?>
<model>
<name>fpv_cam_self</name>
<version>1.0</version>
<sdf version="1.5">fpv_cam_self.sdf</sdf>
<description>
Work in progress.
kinetic 3D camera
</description>
</model>
4. 测试
运行
roslaunch px4 mavros_posix_sitl.launch
查看图像
rqt_image_view
Original: https://blog.csdn.net/Hot_Ant/article/details/122326291
Author: 小小洋洋
Title: PX4 GAZEBO无人机添加相机并进行图像识别
原创文章受到原创版权保护。转载请注明出处：https://www.johngo689.com/597768/
转载文章受原作者版权保护。转载请注明原作者出处！