        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
        <motorType>velocity</motorType>
      </plugin>
      <plugin
        filename="gz-sim-multicopter-motor-model-system"
        name="gz::sim::systems::MulticopterMotorModel">
        <robotNamespace>X3</robotNamespace>
        <jointName>X3/rotor_2_joint</jointName>
        <linkName>X3/rotor_2</linkName>
        <turningDirection>cw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>800.0</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.016</momentConstant>
        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
        <actuator_number>2</actuator_number>
        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
        <motorType>velocity</motorType>
      </plugin>
      <plugin
        filename="gz-sim-multicopter-motor-model-system"
        name="gz::sim::systems::MulticopterMotorModel">
        <robotNamespace>X3</robotNamespace>
        <jointName>X3/rotor_3_joint</jointName>
        <linkName>X3/rotor_3</linkName>
        <turningDirection>cw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>800.0</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.016</momentConstant>
        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
        <actuator_number>3</actuator_number>
        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>


make px4_sitl gazebo_typhoon_h480


##  #  Extending and Customizing


VERBOSE_SIM=1 make px4_sitl gazebo


  * **macOS:** [ Development Environment on Mac ](/v1.12/en/dev_setup/dev_env_mac.html)
  * **Linux:** [ Development Environment on Ubuntu LTS / Debian Linux > Gazebo, JMAVSim and NuttX (Pixhawk) Targets ](/v1.12/en/dev_setup/dev_env_linux_ubuntu.html#gazebo-jmavsim-and-nuttx-pixhawk-targets)
  * **Windows:** Not supported.


SimulationRookie gravatar imageSimulationRookie ( Mar 24 '18 )edit
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Related questions
Programming a simulation [ROS+Gazebo]


Note that you'll probably have to implement the aerodynamic models yourself in a Plugin. Check out this answer for some good resources/examples.


What is the correct form for the parameter_bridge of the X3 quadcopter model for motor_speed topic?


  * [ main  (opens new window)  ](https://docs.px4.io/main/en/)
  * [ v1.14  (opens new window)  ](https://docs.px4.io/v1.14/en/)
  * [ v1.13  (opens new window)  ](https://docs.px4.io/v1.13/en/)
  * [ v1.12  (opens new window)  ](https://docs.px4.io/v1.12/en/)
  * [ v1.11  (opens new window)  ](https://docs.px4.io/v1.11/en/)
  * ####  DevGuide (Old/Merged)


make px4_sitl gazebo_if750a


Note


gz topic -t "/X3/gazebo/command/twist" -m gz.msgs.Twist -p "linear: {x:0 y: 0 z: 0.1} angular {z: 0}"


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How to do quadcopter simulation with Gazebo? edit
quadcopter
asked Mar 21 '18


The next time you build/restart Gazebo it will use the new GPS noise setting.


Thanks for your time Soeren


  * [ QGroundControl User Guide  (opens new window)  ](https://docs.qgroundcontrol.com/en/)
  * [ QGroundControl Developer Guide  (opens new window)  ](https://dev.qgroundcontrol.com/en/)
  * [ MAVLink Guide  (opens new window)  ](https://mavlink.io/en/)
  * [ MAVSDK  (opens new window)  ](https://mavsdk.mavlink.io/)
  * [ Dronecode Camera Manager  (opens new window)  ](https://camera-manager.dronecode.org/en/)


Simply prefix the normal ` make ` command with ` HEADLESS=1 ` as shown:


Listen to odometry:


For example, to load the _warehouse_ world, you can append it as shown:


The vehicle is not spawned exactly at the Gazebo origin (0,0,0), but using a
slight offset, which can highlight a number of common coding issues.


        <rotorConfiguration>
          <rotor>
            <jointName>X3/rotor_0_joint</jointName>
            <forceConstant>8.54858e-06</forceConstant>
            <momentConstant>0.016</momentConstant>
            <direction>1</direction>
          </rotor>
          <rotor>
            <jointName>X3/rotor_1_joint</jointName>
            <forceConstant>8.54858e-06</forceConstant>
            <momentConstant>0.016</momentConstant>
            <direction>1</direction>
          </rotor>
          <rotor>
            <jointName>X3/rotor_2_joint</jointName>
            <forceConstant>8.54858e-06</forceConstant>
            <momentConstant>0.016</momentConstant>
            <direction>-1</direction>
          </rotor>
          <rotor>
            <jointName>X3/rotor_3_joint</jointName>
            <forceConstant>8.54858e-06</forceConstant>
            <momentConstant>0.016</momentConstant>
            <direction>-1</direction>
          </rotor>
        </rotorConfiguration>
      </plugin>
      <plugin
        filename="gz-sim-odometry-publisher-system"
        name="gz::sim::systems::OdometryPublisher">
        <dimensions>3</dimensions>
      </plugin>
    </include>
    <include>
      <pose>0 3 1 0 0 0</pose>
      <uri>
        https://fuel.gazebosim.org/1.0/OpenRobotics/models/X4 UAV Config 1
      </uri>


pxh> commander takeoff


make px4_sitl gazebo_rover__sonoma_raceway


_Gazebo_ can be used to simulate deploying a [ parachute
](/v1.12/en/peripherals/parachute.html) during [ Flight Termination
](/v1.12/en/advanced_config/flight_termination.html) (flight termination is
triggered by the PWM command that is simulated in _Gazebo_ ).


        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
        <motorType>velocity</motorType>
      </plugin>
      <plugin
        filename="gz-sim-multicopter-control-system"
        name="gz::sim::systems::MulticopterVelocityControl">
        <robotNamespace>X3</robotNamespace>
        <commandSubTopic>gazebo/command/twist</commandSubTopic>
        <enableSubTopic>enable</enableSubTopic>
        <comLinkName>X3/base_link</comLinkName>
        <velocityGain>2.7 2.7 2.7</velocityGain>
        <attitudeGain>2 3 0.15</attitudeGain>
        <angularRateGain>0.4 0.52 0.18</angularRateGain>
        <maximumLinearAcceleration>2 2 2</maximumLinearAcceleration>


gz topic -t "/X4/gazebo/command/twist" -m gz.msgs.Twist -p " "


For example:


      <plugin filename="gz-sim-multicopter-motor-model-system"
        name="gz::sim::systems::MulticopterMotorModel">
        <robotNamespace>X4</robotNamespace>
        <jointName>rotor_4_joint</jointName>
        <linkName>rotor_4</linkName>
        <turningDirection>ccw</turningDirection>
        <timeConstantUp>0.0182</timeConstantUp>
        <timeConstantDown>0.0182</timeConstantDown>
        <maxRotVelocity>1000.0</maxRotVelocity>
        <motorConstant>1.269e-05</motorConstant>
        <momentConstant>0.016754</momentConstant>
        <commandSubTopic>command/motor_speed</commandSubTopic>
        <actuator_number>4</actuator_number>
        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
        <rotorDragCoefficient>0</rotorDragCoefficient>
        <rollingMomentCoefficient>0</rollingMomentCoefficient>
        <motorSpeedPubTopic>motor_speed/4</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
        <motorType>velocity</motorType>
      </plugin>
      <plugin filename="gz-sim-multicopter-motor-model-system"
        name="gz::sim::systems::MulticopterMotorModel">
        <robotNamespace>X4</robotNamespace>
        <jointName>rotor_5_joint</jointName>
        <linkName>rotor_5</linkName>
        <turningDirection>cw</turningDirection>
        <timeConstantUp>0.0182</timeConstantUp>
        <timeConstantDown>0.0182</timeConstantDown>
        <maxRotVelocity>1000.0</maxRotVelocity>
        <motorConstant>1.269e-05</motorConstant>
        <momentConstant>0.016754</momentConstant>
        <commandSubTopic>command/motor_speed</commandSubTopic>
        <actuator_number>5</actuator_number>
        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
        <rotorDragCoefficient>0</rotorDragCoefficient>
        <rollingMomentCoefficient>0</rollingMomentCoefficient>
        <motorSpeedPubTopic>motor_speed/5</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
        <motorType>velocity</motorType>
      </plugin>


        <spherical_coordinates>
          <surface_model>EARTH_WGS84</surface_model>
          <latitude_deg>38.161479</latitude_deg>
          <longitude_deg>-122.454630</longitude_deg>
          <elevation>488.0</elevation>
        </spherical_coordinates>


An example can be found in the [ sonoma_raceway.world  (opens new window)
](https://github.com/PX4/sitl_gazebo/blob/master/worlds/sonoma_raceway.world)
:


                gz::sim::EntityComponentManager &_ecm) override;
    /// \brief Callback for twist messages
    /// The controller waits for the first twist message before publishing any
    /// rotor velocities.
    /// \param[in] _msg Twist message
    private: void OnTwist(const msgs::Twist &_msg);
    /// \brief Callback for enable messages
    /// \param[in] _msg Callback message. If false, the controller sends a zero
    /// rotor velocity command once and gets disabled. If the vehicle is in the
    /// air, disabling the controller will cause it to fall. If true, the
    /// controller becomes enabled and waits for a twist message.
    private: void OnEnable(const msgs::Boolean &_msg);
    /// \brief Publish provided rotor velocities
    /// \param[in] _ecm Mutable reference to the EntityComponentManager
    /// \param[in] _vels Rotor velocities to be published
    private: void PublishRotorVelocities(
                 gz::sim::EntityComponentManager &_ecm,
                 const Eigen::VectorXd &_vels);
    /// \brief Get the vehicle inertial from child links and nested models
    /// \param[in] _ecm Immutable reference to the EntityComponentManager
    /// \param[in] _entity Model entity to get inertial for
    private: math::Inertiald VehicleInertial(
                 const EntityComponentManager &_ecm,
                 Entity _entity);
    /// \brief Model interface
    private: Model model{kNullEntity};
    /// \brief Link name
    private: std::string comLinkName;
    /// \brief Link Entity
    private: Entity comLinkEntity;
    /// \brief Topic namespace.
    private: std::string robotNamespace;
    /// \brief Topic for twist commands.
    private: std::string commandSubTopic{"cmd_vel"};
    /// \brief Topic for enable commands.
    private: std::string enableSubTopic{"enable"};
    /// \brief Gazebo communication node.
    private: transport::Node node;
    /// \brief Holds the rotor velocities computed by the controller. This is
    /// here so we don't need to allocate memory every simulation step.


![QGC Video Streaming Gazebo
Example](/v1.12/assets/img/qgc_gazebo_video_stream_typhoon.a55b4228.jpg)


Note


Listen to poses:


The supported vehicles and ` make ` commands are listed below (click links to
see vehicle images).


Version  Version


FYI only, the dependencies include: ` gstreamer1.0-plugins-base ` , g `
streamer1.0-plugins-good ` , ` gstreamer1.0-plugins-bad ` , `
gstreamer1.0-plugins-ugly ` , ` libgstreamer-plugins-base1.0-dev ` .


The camera also supports/responds to the following MAVLink commands: [
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)
, [ MAV_CMD_REQUEST_STORAGE_INFORMATION  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_STORAGE_INFORMATION)
, [ MAV_CMD_REQUEST_CAMERA_SETTINGS  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_CAMERA_SETTINGS)
, [ MAV_CMD_REQUEST_CAMERA_INFORMATION  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_CAMERA_INFORMATION)
, [ MAV_CMD_RESET_CAMERA_SETTINGS  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_RESET_CAMERA_SETTINGS) ,
[ MAV_CMD_STORAGE_FORMAT  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_STORAGE_FORMAT) , [
MAV_CMD_SET_CAMERA_ZOOM  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_CAMERA_ZOOM) , [
MAV_CMD_IMAGE_START_CAPTURE  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_START_CAPTURE) , [
MAV_CMD_IMAGE_STOP_CAPTURE  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_STOP_CAPTURE) , [
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)
, [ MAV_CMD_REQUEST_VIDEO_STREAM_STATUS  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)
, [ MAV_CMD_SET_CAMERA_MODE  (opens new window)
](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_CAMERA_MODE) .


###  #  Improving Distance Sensor Performance


##  #  Running the Simulation


  /// velocities are expressed in the body frame of the vehicle. A vehicle with
  /// at least 4 rotors is required for the controller to function.
  ///
  /// Note that this system only computes the necessary rotor velocities and
  /// updates the Actuators component on the model entity. To actually convert
  /// these velocities to thrust, this system requires the MulticopterMotorModel
  /// system on each rotor. Note also that only one MulticopterVelocityControl
  /// system is allowed per model.
  ///
  /// This system is inspired by the LeePositionController from RotorS
  /// https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_control/include/rotors_control/lee_position_controller.h
  /// Instead of subscribing to odometry messages, this system uses ground truth
  /// values of orientation, linear velocity and angular velocity from
  /// simulation. As such it is not designed to work with user supplied state
  /// estimators. Instead, the system allows noise to be added to velocity
  /// values to simulate the behavior of state estimators.
  ///
  /// Main differences/additions include:
  ///  * Only controls velocity. Velocity estimates are obtained from simulation
  ///  ground truth, but noise can be added to simulate realistic estimators.
  ///  * Automatic calculation of rotor angle and arm length
  ///  * Automatic calculation of vehicle mass and inertia
  ///  * Handling of non-orthogonal rotor axis
  ///  * Maximum acceleration limit
  ///  * Can be enabled/disabled at runtime.
  ///
  /// # Parameters
  /// The following parameters are used by the system
  ///
  /// robotNamespace: All gz-transport topics subscribed to and published by
  ///  the system will be prefixed by this string. This is a required parameter.
  ///
  /// commandSubTopic: The system subscribes to this topic to receive twist
  /// commands. The default value is "cmd_vel".
  ///
  /// enableSubTopic: Topic to enable or disable the system. If false, the
  /// controller sends a zero rotor velocity command once and gets disabled. If
  /// the vehicle is in the air, disabling the controller will cause it to fall.
  /// If true, the controller becomes enabled and waits for a twist message. The
  /// default value is "enable".


    "gz::sim::systems::MulticopterVelocityControl")
// TODO(CH3): Deprecated, remove on version 8
GZ_ADD_PLUGIN_ALIAS(
    MulticopterVelocityControl,
    "ignition::gazebo::systems::MulticopterVelocityControl")


    gst-launch-1.0  -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' \
    ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink fps-update-interval=1000 sync=false


The video from Gazebo should then display in _QGroundControl_ just as it would
from a real camera.


* [ DevGuide v1.11  (opens new window)  ](https://dev.px4.io/v1.11_noredirect/en/)


##  #  Further Information


  * [ QGroundControl User Guide  (opens new window)  ](https://docs.qgroundcontrol.com/en/)
  * [ QGroundControl Developer Guide  (opens new window)  ](https://dev.qgroundcontrol.com/en/)
  * [ MAVLink Guide  (opens new window)  ](https://mavlink.io/en/)
  * [ MAVSDK  (opens new window)  ](https://mavsdk.mavlink.io/)
  * [ Dronecode Camera Manager  (opens new window)  ](https://camera-manager.dronecode.org/en/)


  1. Build any gazebo target in order to generate SDF files (for all vehicles). For example:

        make px4_sitl gazebo_iris


You can load any of the worlds by specifying them as the final option in the
PX4 configuration target.


  * In your IDE select ` px4_<mode> ` target you want to debug (e.g. ` px4_iris ` )
  * Start the debug session directly from IDE


[ QGroundControl  (opens new window)  ](http://qgroundcontrol.com/)


You can use the velocity controller and command linear velocity and yaw angular velocity in the body frame of the vehicle


Gazebo can be run in a _headless_ mode in which the Gazebo UI is not launched.
This starts up more quickly and uses less system resources (i.e. it is a more
"lightweight" way to run the simulation).


The Typhoon world is not very interesting.


Comments
Thank you Joseph


The vehicle gets spawned very close to the origin of the world model at some
simulated GPS location.


2. Open the SDF file for your target vehicle (e.g. **./Tools/sitl_gazebo/models/iris/iris.sdf** ).


The location of the world is defined in the **.world** file by specifying the
location of the origin using the ` spherical_coordinates ` tag. The latitude,
longitude, elevation must all be specified (for this to be a valid).


To hover


###  #  Start/Stop Video Streaming


It is also possible to view the video using the _Gstreamer Pipeline_ . Simply
enter the following terminal command:


* Typhoon H480


![Gazebo UI](/v1.12/assets/img/gazebo_follow.63ac701a.jpg)


    export VERBOSE_SIM=1
    make px4_sitl gazebo


Options that apply to all simulators are covered in the top level [ Simulation
](/v1.12/en/simulation/#sitl-simulation-environment) topic (some of these may
be duplicated below).


Languages  Languages


##  #  Set World Location


The _Gazebo_ survey camera simulates a [ MAVLink camera  (opens new window)
](https://mavlink.io/en/services/camera.html) that captures geotagged JPEG
images and sends camera capture information to a connected ground station. The
camera also supports video streaming. It can be used to test camera capture,
in particular within survey missions.


Note


###  #  Change Wind Speed


HEADLESS=1 make px4_sitl gazebo_plane


[ Support  ](https://docs.px4.io/main/en/contribute/support.html)


**Supported Vehicles:** Quad ( [ Iris
](/v1.12/en/airframes/airframe_reference.html#copter_quadrotor_wide_3dr_iris_quadrotor)
and [ Solo
](/v1.12/en/airframes/airframe_reference.html#copter_quadrotor_x_3dr_solo) ,
Hex (Typhoon H480), [ Generic quad delta VTOL
](/v1.12/en/airframes/airframe_reference.html#vtol_standard_vtol_generic_quad_delta_vtol)
, Tailsitter, Plane, Rover, Submarine/UUV.


gz topic -t "/X3/gazebo/command/twist" -m gz.msgs.Twist -p " "


TIP


###  #  Set Custom Takeoff Location


The simulated camera is implemented in [
PX4/PX4-SITL_gazebo/master/src/gazebo_camera_manager_plugin.cpp  (opens new
window)
](https://github.com/PX4/PX4-SITL_gazebo/blob/master/src/gazebo_camera_manager_plugin.cpp)
.


###  #  Change Simulation Speed


/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_SIM_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
#define GZ_SIM_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
#include <Eigen/Geometry>
#include <memory>
#include <string>
#include <gz/msgs/actuators.pb.h>
#include <gz/msgs/boolean.pb.h>
#include <gz/msgs/twist.pb.h>
#include <gz/transport/Node.hh>
#include <gz/sim/System.hh>
#include "gz/sim/Link.hh"
#include "gz/sim/Model.hh"
#include "Common.hh"
#include "LeeVelocityController.hh"
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
  /// \brief This is a velocity controller for multicopters that allows control
  /// over the linear velocity and the yaw angular velocity of the vehicle. The


        loadRotorConfiguration(_ecm, sdfClone->GetElement("rotorConfiguration"),
                               this->model, this->comLinkEntity);
    // DEBUG
    // std::cout << "Found "
    //           << vehicleParams.rotorConfiguration.size()
    //           << " rotors" << std::endl;
    // for (const auto &rotor : vehicleParams.rotorConfiguration)
    // {
    //   std::cout << rotor.angle << " "
    //             << rotor.armLength << " " << rotor.forceConstant << " "
    //             << rotor.momentConstant << " " << rotor.direction << "\n\n";
    // }
  }
  else
  {
    gzerr << "Please specify rotorConfiguration.\n";
  }
  this->rotorVelocities.resize(vehicleParams.rotorConfiguration.size());
  auto worldEntity = _ecm.EntityByComponents(components::World());
  if (kNullEntity == worldEntity)
  {
    gzerr << "World entity missing." << std::endl;
    return;
  }
  // Get the world acceleration (defined in world frame)
  auto gravityComp = _ecm.Component<components::Gravity>(worldEntity);
  if (nullptr == gravityComp)
  {
    gzerr << "World missing gravity." << std::endl;
    return;
  }
  vehicleParams.gravity = math::eigen3::convert(gravityComp->Data());
  LeeVelocityControllerParameters controllerParameters;
  if (sdfClone->HasElement("velocityGain"))
  {
    controllerParameters.velocityGain =
        math::eigen3::convert(sdfClone->Get<math::Vector3d>("velocityGain"));
  }
  else
  {


Send commands to the quadcopter to go straight up:


##  #  Starting Gazebo and PX4 Separately


camera sensor does not attach to quadcopter


For extended development sessions it might be more convenient to start Gazebo
and PX4 separately or even from within an IDE.


The variables to set are: ` PX4_HOME_LAT ` , ` PX4_HOME_LON ` , and `
PX4_HOME_ALT ` .


You can bring it into the air by typing:


Note


##  #  Simulated Parachute/Flight Termination


    export PX4_SIM_SPEED_FACTOR=2
    make px4_sitl_default gazebo


  * [ main  (opens new window)  ](https://docs.px4.io/main/en/)
  * [ v1.14  (opens new window)  ](https://docs.px4.io/v1.14/en/)
  * [ v1.13  (opens new window)  ](https://docs.px4.io/v1.13/en/)
  * [ v1.12  (opens new window)  ](https://docs.px4.io/v1.12/en/)
  * [ v1.11  (opens new window)  ](https://docs.px4.io/v1.11/en/)
  * ####  DevGuide (Old/Merged)


  * [ English ](/v1.12/en/simulation/gazebo.html)
  * [ 한국어 (Korean) ](/v1.12/ko/simulation/gazebo.html)
  * [ 中文 (Chinese) ](/v1.12/zh/simulation/gazebo.html)


[ MAVSDK  (opens new window)  ](https://mavsdk.mavlink.io/)


gz topic -e -t "/model/X4/odometry"


        <rotorConfiguration>
          <rotor>
            <jointName>rotor_0_joint</jointName>
            <forceConstant>1.269e-05</forceConstant>
            <momentConstant>1.6754e-2</momentConstant>
            <direction>1</direction>
          </rotor>
          <rotor>
            <jointName>rotor_1_joint</jointName>
            <forceConstant>1.269e-05</forceConstant>
            <momentConstant>1.6754e-2</momentConstant>
            <direction>-1</direction>
          </rotor>
          <rotor>
            <jointName>rotor_2_joint</jointName>
            <forceConstant>1.269e-05</forceConstant>
            <momentConstant>1.6754e-2</momentConstant>
            <direction>1</direction>
          </rotor>
          <rotor>
            <jointName>rotor_3_joint</jointName>
            <forceConstant>1.269e-05</forceConstant>
            <momentConstant>1.6754e-2</momentConstant>
            <direction>-1</direction>
          </rotor>
          <rotor>
            <jointName>rotor_4_joint</jointName>
            <forceConstant>1.269e-05</forceConstant>
            <momentConstant>1.6754e-2</momentConstant>
            <direction>1</direction>
          </rotor>
          <rotor>
            <jointName>rotor_5_joint</jointName>
            <forceConstant>1.269e-05</forceConstant>
            <momentConstant>1.6754e-2</momentConstant>
            <direction>-1</direction>
          </rotor>
        </rotorConfiguration>
      </plugin>
      <plugin


//////////////////////////////////////////////////
void MulticopterVelocityControl::Configure(const Entity &_entity,
    const std::shared_ptr<const sdf::Element> &_sdf,
    EntityComponentManager &_ecm,
    EventManager &/*_eventMgr*/)
{
  this->model = Model(_entity);
  if (!this->model.Valid(_ecm))
  {
    gzerr << "MulticopterVelocityControl plugin should be attached to a model "
           << "entity. Failed to initialize." << std::endl;
    return;
  }
  auto sdfClone = _sdf->Clone();
  if (sdfClone->HasElement("comLinkName"))
  {
    this->comLinkName = sdfClone->Get<std::string>("comLinkName");
  }
  if (this->comLinkName.empty())
  {
    gzerr << "found an empty comLinkName parameter. Failed to initialize.\n";
    return;
  }
  // Get the link entity
  this->comLinkEntity = this->model.LinkByName(_ecm, this->comLinkName);
  if (this->comLinkEntity == kNullEntity)
  {
    gzerr << "Link " << this->comLinkName
           << " could not be found. Failed to initialize.\n";
    return;
  }
  createFrameDataComponents(_ecm, this->comLinkEntity);
  VehicleParameters vehicleParams;
  math::Inertiald vehicleInertial;
  vehicleInertial = this->VehicleInertial(_ecm, this->model.Entity());
  vehicleParams.mass = vehicleInertial.MassMatrix().Mass();
  vehicleParams.inertia = math::eigen3::convert(vehicleInertial.Moi());
  if (sdfClone->HasElement("rotorConfiguration"))
  {
    vehicleParams.rotorConfiguration =


###  #  Verbose Logging


###  #  Headless Mode


Last Updated:  6/17/2021, 1:38:54 AM


make px4_sitl_default gazebo_plane_cam


TIP


For more information see:


The camera emits the [ CAMERA_IMAGE_CAPTURED  (opens new window)
](https://mavlink.io/en/messages/common.html#CAMERA_IMAGE_CAPTURED) message
every time an image is captured. The captured images are saved to:
**PX4-Autopilot/build/px4_sitle_default/tmp/frames/DSC_n_.jpg** (where _n_
starts as 00000 and is iterated by one on each capture).


[ ![Mermaid Graph: Gazebo
plugin](https://mermaid.ink/img/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIEdhemViby0tPlBsdWdpbjtcbiAgUGx1Z2luLS0-TUFWTGluaztcbiAgTUFWTGluay0tPlNJVEw7IiwibWVybWFpZCI6eyJ0aGVtZSI6ImRlZmF1bHQifSwidXBkYXRlRWRpdG9yIjpmYWxzZX0)
(opens new window)  ](https://mermaid-js.github.io/mermaid-live-
editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIEdhemViby0tPlBsdWdpbjtcbiAgUGx1Z2luLS0-TUFWTGluaztcbiAgTUFWTGluay0tPlNJVEw7IiwibWVybWFpZCI6eyJ0aGVtZSI6ImRlZmF1bHQifSwidXBkYXRlRWRpdG9yIjpmYWxzZX0)


gz topic -e -t "/model/x3/pose"


  * [ ROS with Gazebo Simulation ](/v1.12/en/simulation/ros_interface.html)
  * [ Gazebo Octomap ](/v1.12/en/simulation/gazebo_octomap.html)


The easiest way to do this is to open a terminal in the root directory of the
PX4 _PX4-Autopilot_ repository and call ` make ` for the desired target. For
example, to start a quadrotor simulation (the default):


    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>


The commands above launch a single vehicle with the full UI. Other options
include:


You can also set a  Custom Takeoff Location  that does the same thing. However
adding the location to the map is easier (and can still be over-ridden by
setting a custom location if needed).


        filename="gz-sim-odometry-publisher-system"
        name="gz::sim::systems::OdometryPublisher">
        <dimensions>3</dimensions>
      </plugin>
    </include>
  </world>
</sdf>


The Gazebo camera sensor is supported/enabled on the following frames:


Video streaming is automatically started when supported by the target vehicle.
For example, to start streaming video on the Typhoon H480:


If the loaded world does not align with the map, you may need to  set the
world location  .


If using a world that recreates a real location (e.g. a particular airport)
this can result in a very obvious mismatch between what is displayed in the
simulated world, and what is shown on the ground station map. To overcome this
problem you can set the location of the world origin to the GPS co-ordinates
where it would be in "real life".


cc-by-saCopyright Askbot, 2010-2011. Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.about | faq | help | privacy policy | terms of servicePowered by Askbot version 0.7.58


To extend or customize the simulation interface, edit the files in the `
Tools/sitl_gazebo ` folder. The code is available on the [ sitl_gazebo
repository  (opens new window)  ](https://github.com/px4/sitl_gazebo) on
Github.


The easiest way to view the SITL/Gazebo camera video stream is in
_QGroundControl_ . Simply open **Application Settings > General ** and set
**Video Source** to _UDP h.264 Video Stream_ and **UDP Port** to _5600_ :


To enable/disable GPS noise:


Gazebo 9 setup is included in our standard build instructions:


Languages  Languages


PX4  PX4


![Video ON/OFF button](/v1.12/assets/img/sitl_video_stream.f6092293.png)


To put the vehicle into flight termination state, you can force it to fail a [
safety check ](/v1.12/en/config/safety.html) that has flight termination set
as the failsafe action. For example, you could do this by forcing a [ Geofence
violation ](/v1.12/en/config/safety.html#geofence-failsafe) .


  * [ English ](/v1.12/en/simulation/gazebo.html)
  * [ 한국어 (Korean) ](/v1.12/ko/simulation/gazebo.html)
  * [ 中文 (Chinese) ](/v1.12/zh/simulation/gazebo.html)


      <plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
          <frameId>base_link</frameId>
          <robotNamespace/>
          <xyzOffset>1 0 0</xyzOffset>
          <windDirectionMean>0 1 0</windDirectionMean>
          <windVelocityMean>SET_YOUR_WIND_SPEED</windVelocityMean>
          <windGustDirection>0 0 0</windGustDirection>
          <windGustDuration>0</windGustDuration>
          <windGustStart>0</windGustStart>
          <windGustVelocityMean>0</windGustVelocityMean>
          <windPubTopic>world_wind</windPubTopic>
        </plugin>


Send commands to the hexacopter to go straight up:


Note


Version  Version


<sdf version="1.6">
  <world name="multicopter">
    <physics name="4ms" type="ignored">
      <max_step_size>0.004</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>


  * [ Flight Termination ](/v1.12/en/advanced_config/flight_termination.html)
  * [ Parachute ](/v1.12/en/peripherals/parachute.html)
  * [ Safety Configuration (Failsafes) ](/v1.12/en/config/safety.html)


make px4_sitl_default gazebo_plane_cam__warehouse


[ MAVLINK  (opens new window)  ](https://mavlink.io/en/)


  * Run gazebo (or any other sim) server and client viewers via the terminal specifing an ` _ide ` variant:

        make px4_sitl gazebo___ide


How to control custom modeled quadcopter in gazebo?


PX4 supports a number of [ Gazebo Worlds
](/v1.12/en/simulation/gazebo_worlds.html) , which are stored in [
PX4/sitl_gazebo/worlds  (opens new window)
](https://github.com/PX4/sitl_gazebo/tree/master/worlds) ) By default Gazebo
displays a flat featureless plane, as defined in [ empty.world  (opens new
window)  ](https://github.com/PX4/sitl_gazebo/blob/master/worlds/empty.world)
.


//////////////////////////////////////////////////
void MulticopterVelocityControl::PreUpdate(
    const UpdateInfo &_info,
    EntityComponentManager &_ecm)
{
  GZ_PROFILE("MulticopterVelocityControl::PreUpdate");
  if (!this->initialized)
  {
    return;
  }
  // \TODO(anyone) Support rewind
  if (_info.dt < std::chrono::steady_clock::duration::zero())
  {
    gzwarn << "Detected jump back in time ["
        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
        << "s]. System may not work properly." << std::endl;
  }
  // Nothing left to do if paused.
  if (_info.paused)
  {
    return;
  }
  if (!this->controllerActive)
  {
    // If the last published rotor velocities were not 0, publish zero
    // velocities
    if (this->rotorVelocities.squaredNorm() > 0)
    {
      this->rotorVelocities.setZero();
      this->PublishRotorVelocities(_ecm, this->rotorVelocities);
      // Clear the cmdVelMsg so that the system waits for a new command after
      // being renabled.
      std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
      this->cmdVelMsg.reset();
    }
    return;
  }
  EigenTwist cmdVel;
  {
    std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);


Right-clicking the quadrotor model allows to enable follow mode from the
context menu, which is handy to keep it in view.


      <plugin
        filename="gz-sim-multicopter-control-system"
        name="gz::sim::systems::MulticopterVelocityControl">
        <robotNamespace>X4</robotNamespace>
        <commandSubTopic>gazebo/command/twist</commandSubTopic>
        <enableSubTopic>enable</enableSubTopic>
        <comLinkName>base_link</comLinkName>
        <velocityGain>6 6 10</velocityGain>
        <attitudeGain>4 4 2</attitudeGain>
        <angularRateGain>0.7 0.7 0.7</angularRateGain>
        <maximumLinearAcceleration>1 1 2</maximumLinearAcceleration>
        <maximumLinearVelocity>5 5 5</maximumLinearVelocity>
        <maximumAngularVelocity>3 3 3</maximumAngularVelocity>
        <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
        <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
        <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
        <!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
        <linearVelocityNoiseStdDev>0.1105 0.1261 0.0947</linearVelocityNoiseStdDev>
        <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
        <!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample  -->
        <!-- time of 0.004 ms. -->
        <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>


##  #  Installation


The takeoff location in SITL Gazebo can be set using environment variables.
This will override both the default takeoff location, and any value  set for
the world  .


##  #  Simulated Survey Camera


##  #  Loading a Specific World


###  #  Simulating GPS Noise


The simulation speed can be increased or decreased with respect to realtime
using the environment variable ` PX4_SIM_SPEED_FACTOR ` .


See [ Simulation ](/v1.12/en/simulation/) for general information about
simulators, the simulation environment, and simulation configuration (e.g.
supported vehicles).


SITL fails silently when there is something wrong with the gazebo model. You
can enable more verbose logging using ` VERBOSE_SIM ` , as shown:


To start Gazebo and PX4 separately:


The ` if750a ` target has a parachute attached to the vehicle. To simulate the
vehicle, run the following command:


      <plugin filename="gz-sim-multicopter-motor-model-system"
        name="gz::sim::systems::MulticopterMotorModel">
        <robotNamespace>X4</robotNamespace>
        <jointName>rotor_2_joint</jointName>
        <linkName>rotor_2</linkName>
        <turningDirection>ccw</turningDirection>
        <timeConstantUp>0.0182</timeConstantUp>
        <timeConstantDown>0.0182</timeConstantDown>
        <maxRotVelocity>1000.0</maxRotVelocity>
        <motorConstant>1.269e-05</motorConstant>
        <momentConstant>0.016754</momentConstant>
        <commandSubTopic>command/motor_speed</commandSubTopic>
        <actuator_number>2</actuator_number>
        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
        <rotorDragCoefficient>0</rotorDragCoefficient>
        <rollingMomentCoefficient>0</rollingMomentCoefficient>
        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
        <motorType>velocity</motorType>
      </plugin>
      <plugin filename="gz-sim-multicopter-motor-model-system"
        name="gz::sim::systems::MulticopterMotorModel">
        <robotNamespace>X4</robotNamespace>
        <jointName>rotor_3_joint</jointName>
        <linkName>rotor_3</linkName>
        <turningDirection>cw</turningDirection>
        <timeConstantUp>0.0182</timeConstantUp>
        <timeConstantDown>0.0182</timeConstantDown>
        <maxRotVelocity>1000.0</maxRotVelocity>
        <motorConstant>1.269e-05</motorConstant>
        <momentConstant>0.016754</momentConstant>
        <commandSubTopic>command/motor_speed</commandSubTopic>
        <actuator_number>3</actuator_number>
        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
        <rotorDragCoefficient>0</rotorDragCoefficient>
        <rollingMomentCoefficient>0</rollingMomentCoefficient>
        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
        <motorType>velocity</motorType>
      </plugin>


    this->maximumLinearVelocity.Set(
        std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max());
  }
  if (sdfClone->HasElement("maximumAngularVelocity"))
  {
    this->maximumAngularVelocity =
        sdfClone->Get<math::Vector3d>("maximumAngularVelocity").Abs();
  }
  else
  {
    this->maximumAngularVelocity.Set(
        std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max());
  }
  this->velocityController = LeeVelocityController::MakeController(
      controllerParameters, vehicleParams);
  if (nullptr == this->velocityController)
  {
    gzerr << "Error while creating the LeeVelocityController\n";
    return;
  }
  math::Vector3d linearVelocityMean{0, 0, 0};
  sdfClone->Get<math::Vector3d>("linearVelocityNoiseMean",
      linearVelocityMean, linearVelocityMean);
  math::Vector3d linearVelocityStdDev{0, 0, 0};
  sdfClone->Get<math::Vector3d>("linearVelocityNoiseStdDev",
      linearVelocityStdDev, linearVelocityStdDev);
  math::Vector3d angularVelocityMean{0, 0, 0};
  sdfClone->Get<math::Vector3d>("angularVelocityNoiseMean",
      angularVelocityMean, angularVelocityMean);
  math::Vector3d angularVelocityStdDev{0, 0, 0};
  sdfClone->Get<math::Vector3d>("angularVelocityNoiseStdDev",
      angularVelocityStdDev, angularVelocityStdDev);
  this->noiseParameters.linearVelocityMean =
      math::eigen3::convert(linearVelocityMean);
  this->noiseParameters.linearVelocityStdDev =
      math::eigen3::convert(linearVelocityStdDev);


The ` make ` commands above first build PX4, and then run it along with the
Gazebo simulator.


The current default world is [ PX4/sitl_gazebo/worlds/ **iris.world** (opens
new window)  ](https://github.com/PX4/sitl_gazebo/tree/master/worlds) ), which
uses a heightmap as ground.


GPS noise is enabled if the target vehicle's SDF file contains a value for the
` gpsNoise ` element (i.e. it has the line: ` <gpsNoise>true</gpsNoise> ` ).
It is enabled by default in many vehicle SDF files: **solo.sdf** ,
**iris.sdf** , **standard_vtol.sdf** , **delta_wing.sdf** , **plane.sdf** ,
**typhoon_h480** , **tailsitter.sdf** .


    EntityComponentManager &_ecm,
    const Eigen::VectorXd &_vels)
{
  if (_vels.size() != this->rotorVelocitiesMsg.velocity_size())
  {
    this->rotorVelocitiesMsg.mutable_velocity()->Resize(_vels.size(), 0);
  }
  for (int i = 0; i < this->rotorVelocities.size(); ++i)
  {
    this->rotorVelocitiesMsg.set_velocity(i, _vels(i));
  }
  // Publish the message by setting the Actuators component on the model entity.
  // This assumes that the MulticopterMotorModel system is attached to this
  // model
  auto actuatorMsgComp =
      _ecm.Component<components::Actuators>(this->model.Entity());
  if (actuatorMsgComp)
  {
    auto compFunc = [](const msgs::Actuators &_a, const msgs::Actuators &_b)
    {
      return std::equal(_a.velocity().begin(), _a.velocity().end(),
                        _b.velocity().begin());
    };
    auto state = actuatorMsgComp->SetData(this->rotorVelocitiesMsg, compFunc)
                     ? ComponentState::PeriodicChange
                     : ComponentState::NoChange;
    _ecm.SetChanged(this->model.Entity(), components::Actuators::typeId, state);
  }
  else
  {
    _ecm.CreateComponent(this->model.Entity(),
                         components::Actuators(this->rotorVelocitiesMsg));
  }
}
GZ_ADD_PLUGIN(MulticopterVelocityControl,
                    System,
                    MulticopterVelocityControl::ISystemConfigure,
                    MulticopterVelocityControl::ISystemPreUpdate)
GZ_ADD_PLUGIN_ALIAS(
    MulticopterVelocityControl,


Problem with propellers rotating around middle of robot.


I have developed a mathematical model for a quadcopter. Now I would like to do a simulation with a quadcopter in Gazebo, and compare the results to my own model. I would like to be able to control the rotor speeds for the individual motors - and then log information about x y z, roll pitch yaw.


How can I attach different models on a new model. I am unable to attach a camera model to my quadcopter model


In addition to the existing cmake targets that run ` sitl_run.sh ` with
parameters for px4 to load the correct model it creates a launcher targets
named ` px4_<mode> ` that is a thin wrapper around original sitl px4 app. This
thin wrapper simply embeds app arguments like current working directories and
the path to the model file.


##  #  Taking it to the Sky


Additional installation instructions can be found on [ gazebosim.org  (opens
new window)  ](http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b1) .


There are _two underscores_ after the model ( ` plane_cam ` ) indicating that
the default debugger is used (none). See [ Building the Code > PX4 Make Build
Targets ](/v1.12/en/dev_setup/building_px4.html#px4-make-build-targets) .


  3. Search for the ` gpsNoise ` element:

        <plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
      <robotNamespace/>
      <gpsNoise>true</gpsNoise>
    </plugin>


    if (!this->cmdVelMsg.has_value())
    {
      return;
    }
    // Clip with max linear velocity
    math::Vector3d linear = msgs::Convert(this->cmdVelMsg->linear());
    linear.Min(this->maximumLinearVelocity);
    linear.Max(-this->maximumLinearVelocity);
    math::Vector3d angular = msgs::Convert(this->cmdVelMsg->angular());
    angular.Min(this->maximumAngularVelocity);
    angular.Max(-this->maximumAngularVelocity);
    cmdVel.linear = math::eigen3::convert(linear);
    cmdVel.angular = math::eigen3::convert(angular);
  }
  std::optional<FrameData> frameData =
      getFrameData(_ecm, this->comLinkEntity, this->noiseParameters);
  if (!frameData.has_value())
  {
    // Errors would have already been printed
    return;
  }
  this->velocityController->CalculateRotorVelocities(*frameData, cmdVel,
                                                     this->rotorVelocities);
  this->PublishRotorVelocities(_ecm, this->rotorVelocities);
}
//////////////////////////////////////////////////
void MulticopterVelocityControl::OnTwist(
    const msgs::Twist &_msg)
{
  std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
  this->cmdVelMsg = _msg;
}
//////////////////////////////////////////////////
void MulticopterVelocityControl::OnEnable(
    const msgs::Boolean &_msg)
{
  this->controllerActive = _msg.data();
}
//////////////////////////////////////////////////
void MulticopterVelocityControl::PublishRotorVelocities(


[ Gazebo  (opens new window)  ](http://gazebosim.org) is a powerful 3D
simulation environment for autonomous robots that is particularly suitable for
testing object-avoidance and computer vision. This page describes its use with
SITL and a single vehicle. Gazebo can also be used with [ HITL
](/v1.12/en/simulation/hitl.html) and for [ multi-vehicle simulation
](/v1.12/en/simulation/multi-vehicle-simulation.html) .


[ MAVSDK  (opens new window)  ](https://mavsdk.mavlink.io/)


    gzerr << "Please specify velocityGain for MulticopterVelocityControl.\n";
    return;
  }
  if (sdfClone->HasElement("attitudeGain"))
  {
    controllerParameters.attitudeGain =
        math::eigen3::convert(sdfClone->Get<math::Vector3d>("attitudeGain"));
  }
  else
  {
    gzerr << "Please specify attitudeGain for MulticopterVelocityControl.\n";
    return;
  }
  if (sdfClone->HasElement("angularRateGain"))
  {
    controllerParameters.angularRateGain =
        math::eigen3::convert(sdfClone->Get<math::Vector3d>("angularRateGain"));
  }
  else
  {
    gzerr << "Please specify angularRateGain MulticopterVelocityControl.\n";
    return;
  }
  if (sdfClone->HasElement("maximumLinearAcceleration"))
  {
    controllerParameters.maxLinearAcceleration = math::eigen3::convert(
        sdfClone->Get<math::Vector3d>("maximumLinearAcceleration"));
  }
  else
  {
    controllerParameters.maxLinearAcceleration.setConstant(
        std::numeric_limits<double>::max());
  }
  if (sdfClone->HasElement("maximumLinearVelocity"))
  {
    this->maximumLinearVelocity =
        sdfClone->Get<math::Vector3d>("maximumLinearVelocity").Abs();
  }
  else
  {


Quadcopter with vertical camera model


Does Gazebo have a such quadcopter model? And should I write my own plugin to control rotor speed?


You can test this by spawning a rover in the [ Sonoma Raceway World
](/v1.12/en/simulation/gazebo_worlds.html#sonoma-raceway) using the following
` make ` command (note that spawning takes longer the first time as the model
needs to be downloaded from the model database):


##  #  Usage/Configuration Options


The build system enforces the correct GIT submodules, including the simulator.
It will not overwrite changes in files in the directory.


###  #  How to View Gazebo Video


Joystick and thumb-joystick support are supported through _QGroundControl_ ( [
setup instructions here ](/v1.12/en/simulation/#joystick-gamepad-integration)
).


Docs  Docs


Note


gz topic -t "/X4/gazebo/command/twist" -m gz.msgs.Twist -p "linear: {x:0 y: 0 z: 0.1} angular {z: 0}"


You may be interested in:
https://www.youtube.com/watch?v=orMXV...
http://wiki.ros.org/hector_quadrotor
https://dev.px4.io/en/simulation/gaze...


[ Edit this page on GitHub
](https://github.com/PX4/px4_user_guide/edit/main/en/simulation/gazebo.md)
(opens new window)


Gazebo is often used with [ ROS ](/v1.12/en/ros/) , a toolkit/offboard API for
automating vehicle control. If you plan to use PX4 with ROS you **should
follow the** [ ROS Instructions ](/v1.12/en/simulation/ros_interface.html) to
install both ROS and Gazebo (and thereby avoid installation conflicts).


Once PX4 has started it will launch the PX4 shell as shown below.


    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>


  std::string topic{this->robotNamespace + "/" + this->commandSubTopic};
  this->node.Subscribe(topic, &MulticopterVelocityControl::OnTwist, this);
  gzmsg << "MulticopterVelocityControl subscribing to Twist messages on ["
         << topic << "]" << std::endl;
  std::string enableTopic{this->robotNamespace + "/" + this->enableSubTopic};
  this->node.Subscribe(enableTopic, &MulticopterVelocityControl::OnEnable,
                       this);
  gzmsg << "MulticopterVelocityControl subscribing to Boolean messages on ["
         << enableTopic << "]" << std::endl;
  // Create the Actuators component to take control of rotor speeds
  this->rotorVelocitiesMsg.mutable_velocity()->Resize(
      this->rotorVelocities.size(), 0);
  _ecm.CreateComponent(this->model.Entity(),
                       components::Actuators(this->rotorVelocitiesMsg));
  this->initialized = true;
}
//////////////////////////////////////////////////
math::Inertiald MulticopterVelocityControl::VehicleInertial(
    const EntityComponentManager &_ecm, Entity _entity)
{
  math::Inertiald vehicleInertial;
  for (const Entity &link :
       _ecm.ChildrenByComponents(_entity, components::Link()))
  {
    auto inertial = _ecm.Component<components::Inertial>(link);
    if (nullptr == inertial)
    {
      gzerr << "Could not find inertial component on link "
             << this->comLinkName << std::endl;
      return vehicleInertial;
    }
    vehicleInertial += inertial->Data();
  }
  for (const Entity &modelEnt :
       _ecm.ChildrenByComponents(_entity, components::Model()))
  {
    vehicleInertial += this->VehicleInertial(_ecm, modelEnt);
  }
  return vehicleInertial;
}


/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#include <gz/msgs/actuators.pb.h>
#include <gz/msgs/twist.pb.h>
#include <limits>
#include <gz/common/Profiler.hh>
#include <gz/plugin/Register.hh>
#include <gz/transport/Node.hh>
#include <gz/math/Inertial.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/eigen3/Conversions.hh>
#include <sdf/sdf.hh>
#include "gz/sim/components/Actuators.hh"
#include "gz/sim/components/Gravity.hh"
#include "gz/sim/components/Inertial.hh"
#include "gz/sim/components/Link.hh"
#include "gz/sim/components/Model.hh"
#include "gz/sim/components/ParentEntity.hh"
#include "gz/sim/components/World.hh"
#include "gz/sim/Link.hh"
#include "gz/sim/Model.hh"
#include "MulticopterVelocityControl.hh"
using namespace gz;
using namespace sim;
using namespace systems;
using namespace multicopter_control;


Quadcopter simulation unstable in Gazebo


  this->noiseParameters.angularVelocityMean =
      math::eigen3::convert(angularVelocityMean);
  this->noiseParameters.angularVelocityStdDev =
      math::eigen3::convert(angularVelocityStdDev);
  if (sdfClone->HasElement("robotNamespace"))
  {
    this->robotNamespace = transport::TopicUtils::AsValidTopic(
        sdfClone->Get<std::string>("robotNamespace"));
    if (this->robotNamespace.empty())
    {
      gzerr << "Robot namespace ["
             << sdfClone->Get<std::string>("robotNamespace") <<"] is invalid."
             << std::endl;
      return;
    }
  }
  else
  {
    gzerr << "Please specify a robotNamespace.\n";
    return;
  }
  sdfClone->Get<std::string>("commandSubTopic",
      this->commandSubTopic, this->commandSubTopic);
  this->commandSubTopic = transport::TopicUtils::AsValidTopic(
      this->commandSubTopic);
  if (this->commandSubTopic.empty())
  {
    gzerr << "Invalid command sub-topic." << std::endl;
    return;
  }
  sdfClone->Get<std::string>("enableSubTopic",
      this->enableSubTopic, this->enableSubTopic);
  this->enableSubTopic = transport::TopicUtils::AsValidTopic(
      this->enableSubTopic);
  if (this->enableSubTopic.empty())
  {
    gzerr << "Invalid enable sub-topic." << std::endl;
    return;
  }
  // Subscribe to actuator command messages


Gazebo can simulate GPS noise that is similar to that typically found in real
systems (otherwise reported GPS values will be noise-free/perfect). This is
useful when working on applications that might be impacted by GPS noise - e.g.
precision positioning.


josephcoombe gravatar image
josephcoombe flag of United States of America
609 ●4 ●11 ●20 https://www.metamorphs...
updated Mar 23 '18


  * [ Introduction ](/v1.12/en/)
  * [ Getting Started  ](/v1.12/en/getting_started/)
  * [ Basic Assembly  ](/v1.12/en/assembly/)
  * [ Basic Configuration  ](/v1.12/en/config/)
  * [ Airframe Builds  ](/v1.12/en/airframes/)
  * [ Flying  ](/v1.12/en/flying/)
  * [ Flight Log Analysis  ](/v1.12/en/log/flight_log_analysis)
  * [ Advanced Features  ](/v1.12/en/advanced_features/)
  * [ Advanced Configuration  ](/v1.12/en/advanced_config/)
  * [ Hardware (Drones&Parts)  ](/v1.12/en/hardware/drone_parts)
  * [ Development  ](/v1.12/en/development/development)
    * [ Getting Started  ](/v1.12/en/dev_setup/getting_started)
    * [ Concepts  ](/v1.12/en/concept/)
    * [ Simulation  ](/v1.12/en/simulation/)
      * [ jMAVSim Simulation  ](/v1.12/en/simulation/jmavsim)
      * [ Gazebo Simulation  ](/v1.12/en/simulation/gazebo)
        * [ Gazebo Vehicles ](/v1.12/en/simulation/gazebo_vehicles.html)
        * [ Gazebo Worlds ](/v1.12/en/simulation/gazebo_worlds.html)
        * [ Multi-Vehicle Sim with Gazebo ](/v1.12/en/simulation/multi_vehicle_simulation_gazebo.html)
      * [ FlightGear Simulation  ](/v1.12/en/simulation/flightgear)
      * [ JSBSim Simulation ](/v1.12/en/simulation/jsbsim.html)
      * [ AirSim Simulation ](/v1.12/en/simulation/airsim.html)
      * [ Multi-Vehicle Simulation ](/v1.12/en/simulation/multi-vehicle-simulation.html)
      * [ Simulate Failsafes ](/v1.12/en/simulation/failsafes.html)
      * [ HITL Simulation ](/v1.12/en/simulation/hitl.html)
      * [ Simulation-In-Hardware ](/v1.12/en/simulation/simulation-in-hardware.html)
    * [ Hardware  ](/v1.12/en/hardware/)
    * [ Middleware  ](/v1.12/en/middleware/)
    * [ Modules & Commands  ](/v1.12/en/modules/modules_main)
    * [ Debugging/Logging  ](/v1.12/en/debug/)
    * [ Tutorials  ](/v1.12/en/tutorials/tutorials)
    * [ Advanced Topics  ](/v1.12/en/advanced/)
    * [ Platform Testing and CI  ](/v1.12/en/test_and_ci/)
  * [ Robotics  ](/v1.12/en/robotics/)
  * [ Contribution (&Dev Call)  ](/v1.12/en/contribute/)
  * [ Releases  ](/v1.12/en/releases/)


The [ Installing Files and Code ](/v1.12/en/dev_setup/dev_env.html) guide is a
useful reference if there are build errors.


  * [ Website  (opens new window)  ](https://px4.io/)
  * [ Support  ](https://docs.px4.io/main/en/contribute/support.html)
  * [ Autopilot Source Code  (opens new window)  ](https://github.com/PX4/PX4-Autopilot)
  * [ Docs Source Code  (opens new window)  ](https://github.com/PX4/PX4-user_guide)


make px4_sitl gazebo_iris_ide


SimulationRookie gravatar image
SimulationRookie
1 ●1 ●1 ●1
Hello, I am completely new to Gazebo and looking for advice.


    export PX4_HOME_LAT=28.452386
    export PX4_HOME_LON=-13.867138
    export PX4_HOME_ALT=28.5
    make px4_sitl gazebo


    cd /path/to/PX4-Autopilot
    make px4_sitl gazebo


Aerodynamics Plugin - Help with parameters


PX4 SITL for Gazebo supports UDP video streaming from a Gazebo camera sensor
attached to a vehicle model. When streaming is enabled, you can connect to
this stream from _QGroundControl_ (on UDP port 5600) and view video of the
Gazebo environment from the simulated vehicle - just as you would from a real
camera. The video is streamed using a _gstreamer_ pipeline and can be
enabled/disabled using a button in the Gazebo UI.


You can see this how this is done in [ PX4/PX4-SITL_gazebo/worlds/windy.world
(opens new window)
](https://github.com/PX4/PX4-SITL_gazebo/blob/master/worlds/windy.world#L15-L26)
.


WARNING


[ ![PX4 User Guide \(v1.12\)](/v1.12/px4-logo.svg) PX4 User Guide (v1.12)
](/v1.12/en/)


A key to start


#  Instructions


Run the following command.


[ Sign up
](/signup?ref_cta=Sign+up&ref_loc=header+logged+out&ref_page=%2F%3Cuser-
name%3E%2F%3Crepo-name%3E&source=header-
repo&source_repo=ldrobotSensorTeam%2Fldlidar_ros2)


The Single UNIX ® Specification, Version 2
Copyright © 1997 The Open Group


[ README_CN.md ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/README_CN.md
"README_CN.md")


> _[ pthread_mutex_getprioceiling() ](pthread_mutex_getprioceiling.html) _ ,
> _[ pthread_mutex_lock() ](pthread_mutex_lock.html) _ , _[
> pthread_mutex_unlock() ](pthread_mutex_unlock.html) _ , _[
> pthread_mutex_setprioceiling() ](pthread_mutex_setprioceiling.html) _ , _[
> pthread_mutex_trylock() ](pthread_mutex_trylock.html) _ , _[
> pthread_mutexattr_getpshared() ](pthread_mutexattr_getpshared.html) _ , _[
> pthread_mutexattr_setpshared() ](pthread_mutexattr_setpshared.html) _ , _[
> <pthread.h> ](pthread.h.html) _ .


  * [ Notifications ](/login?return_to=%2FldrobotSensorTeam%2Fldlidar_ros2)
  * [ Fork  4  ](/login?return_to=%2FldrobotSensorTeam%2Fldlidar_ros2)
  * [ Star  6  ](/login?return_to=%2FldrobotSensorTeam%2Fldlidar_ros2)


Readme


##  Use saved searches to filter your results more quickly


  ld.add_action(ldlidar_node)
  ld.add_action(base_link_to_laser_tf_node)


####  APPLICATION USAGE


[ Notifications ](/login?return_to=%2FldrobotSensorTeam%2Fldlidar_ros2)


##  step 1: system setup


            {'enable_angle_crop_func': False},
            {'angle_crop_min': 135.0},
            {'angle_crop_max': 225.0}
          ]
      )

      # base_link to base_laser tf node
      base_link_to_laser_tf_node = Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        name='base_link_to_base_laser_ld14',
        arguments=['0','0','0.18','0','0','0','base_link','base_laser']
      )

      # Define LaunchDescription variable
      ld = LaunchDescription()

      ld.add_action(ldlidar_node)
      ld.add_action(base_link_to_laser_tf_node)

      return ld


cd ldlidar_ros2_ws/src


    * [ Actions  Automate any workflow  ](/features/actions)
    * [ Packages  Host and manage packages  ](/features/packages)
    * [ Security  Find and fix vulnerabilities  ](/features/security)
    * [ Codespaces  Instant dev environments  ](/features/codespaces)
    * [ Copilot  Write better code with AI  ](/features/copilot)
    * [ Code review  Manage code changes  ](/features/code-review)
    * [ Issues  Plan and track work  ](/features/issues)
    * [ Discussions  Collaborate outside of code  ](/features/discussions)


Toggle navigation


    * start ld14 lidar node:

        ros2 launch ldlidar_ros2 ld14.launch.py


####  SYNOPSIS


|

View all files

##  Repository files navigation


[ Star  ](/login?return_to=%2FldrobotSensorTeam%2Fldlidar_ros2)


No packages published


###  Footer navigation


###  Resources


** Environment : Ubuntu18.04ï¼ROS2ï¼eloquentï¼  **


####  ERRORS


###  step3.1: package environment variable settings


Install ROS2
After booting up the Raspberry Pi, you can use a display or the Raspberry Pi headless mode. To install the ROS2 system and related software and tools, you can refer to the ROS2 official documentation.
Please make sure Ubuntu Universe repository is available:


[ Report repository ](/contact/report-
content?content_url=https%3A%2F%2Fgithub.com%2FldrobotSensorTeam%2Fldlidar_ros2&report=ldrobotSensorTeam+%28user%29)


You signed in with another tab or window. [ Reload ]() to refresh your
session.  You signed out in another tab or window. [ Reload ]() to refresh
your session.  You switched accounts on another tab or window. [ Reload ]() to
refresh your session.  Dismiss alert


sudo apt upgrade
Install ROS2, RViz, example, and tutorial:


* Solutions


####  EXAMPLES


  * [ C++  53.0%  ](/ldrobotSensorTeam/ldlidar_ros2/search?l=c%2B%2B)
  * [ Python  39.7%  ](/ldrobotSensorTeam/ldlidar_ros2/search?l=python)
  * [ CMake  5.0%  ](/ldrobotSensorTeam/ldlidar_ros2/search?l=cmake)
  * [ Shell  2.3%  ](/ldrobotSensorTeam/ldlidar_ros2/search?l=shell)


'''
Parameter Description:
---
- Set laser scan directon:
  1. Set counterclockwise, example: {'laser_scan_dir': True}
  2. Set clockwise,        example: {'laser_scan_dir': False}
- Angle crop setting, Mask data within the set angle range:
  1. Enable angle crop fuction:
    1.1. enable angle crop,  example: {'enable_angle_crop_func': True}
    1.2. disable angle crop, example: {'enable_angle_crop_func': False}
  2. Angle cropping interval setting:
  - The distance and intensity data within the set angle range will be set to 0.
  - angle >= 'angle_crop_min' and angle <= 'angle_crop_max' which is [angle_crop_min, angle_crop_max], unit is degress.
    example:
      {'angle_crop_min': 135.0}
      {'angle_crop_max': 225.0}
      which is [135.0, 225.0], angle unit is degress.
'''


[ **4** forks ](/ldrobotSensorTeam/ldlidar_ros2/forks)


[ launch ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/launch "launch")


When the radar is used, it is necessary to enter the workspace each time the
command is executed


  * In order to never need to execute the above command to add environment variables after reopening the terminal, you can do the following.

        echo "source ~/ldlidar_ros2_ws/install/local_setup.bash" >> ~/.bashrc

    source ~/.bashrc


crc = CrcTable[(crc ^ *p++) & 0xff];
}
return crc;
}
LD19 Development Manual V2.59
step = (end_angle – start_angle)/(len – 1);
angle = start_angle + step*i;
where len is the number of measurement points in a data packet, and the value range of i is [0,
len).
3.2. Measurement data analysis
Each measurement data point consists of a 2-byte distance value and a 1-byteconfidence value, as shown in the figure below. Header VerLen Speed Start angle Data End angle Timestamp CRCcheck54H 2CH LSB MSB LSB MSB …… LSB MSB LSB MSB 1Byte Measuring point 1 Measuring point 2 … Measuring point n
distance intensity distance intensity distance intensity
LSB MSB 1 Byte LSB MSB 1 Byte … LSB MSB 1 Byte The unit of distance value is mm. The signal intensity value reflects the light
reflection intensity. The higher the intensity, the larger the signal intensity value; thelower the intensity, the smaller the signal intensity value. For a white object within6m, the typical value of the signal strength value is around 200. The angle value of each point is obtained by linear interpolation of the startingangle and the ending angle. The angle calculation method is as follows:
LD19 Development Manual V2.510
3.3. Example
Suppose we receive a piece of data as shown below. 54 2C 68 08 AB 7E E0 00 E4 DC 00 E2 D9 00 E5 D5 00 E3 D3 00 E4 D0 00 E9 CD00 E4 CA 00 E2 C7 00 E9 C5 00 E5 C2 00 E5 C0 00 E5 BE 82 3A 1A 50
We analyze it as follows:
Header VerLen Speed Start angle Data End angle Timestamp CRCcheck54H 2CH 68H 08H ABH 7EH …… BEH 82H 3AH 1AH50HMeasuring point 1 Measuring point 2 … Measuring point 12
distance intensity distance intensity distance intensityE0H 00H E4H DCH 00H E2H … B0H 00H EAHField information Parsing process Speed 0868H = 2152 degrees per second;
Start angle 7EABH = 32427, or 324.27 degrees;
End angle 82BEH = 33470, or 334.7 degrees;
Measuring point 1 distance 00E0H = 224mm Measuring point 1 intensity E4H = 228
Measuring point 2 distance 00DCH = 200mm Measuring point 2 intensity 00E2H = 226 … …
Measuring point 12 distance 00B0H = 176mm Measuring point 12 intensity EAH = 234
LD19 Development Manual V2.511
4. COORDINATE SYSTEMThe LD19 uses a left-handed coordinate system, the rotation center is thecoordinate origin, the front of the sensor is defined as the zero-degree direction, andthe rotation angle increases clockwise, as shown in the figure below.
LD19 Development Manual V2.512
5. DEVELOPMENT KIT INSTRUCTIONS5.1. How to use the assessment tool
5.1.1. Hardware cable connection and description
1) LiDAR, wire, USB adapter board, as shown in the following figure:
2) Connection diagram, as shown in the figure below:
LD19 Development Manual V2.513
5.1.2. Driver installation under Windows
When evaluating the company's products under Windows, it is necessary toinstall the serial port driver of the USB adapter board. The reason is that the USBadapter board in the development kit provided by the company adopts the CP2102USB to serial port adapter chip, and its driver can be obtained fromSilicon Downloadfrom Labs' official website:
https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers
Or,After decompressing the CP210x_Universal_Windows_Driver driver package, execute the exe file in the driver installation package directory, and select X86 (32-bit)
or X64 (64-bit) according to the Windows system version.
Double-click the exe file and follow the prompts to install it.
LD19 Development Manual V2.514


  # base_link to base_laser tf node
  base_link_to_laser_tf_node = Node(
    package='tf2_ros',
    executable='static_transform_publisher',
    name='base_link_to_base_laser_ld06',
    arguments=['0','0','0.18','0','0','0','base_link','base_laser']
  )


##  3ãgmapping Build diagram test


#  Search code, repositories, users, issues, pull requests...


[ scripts ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/scripts "scripts")


UNIX ® is a registered Trademark of The Open Group.
Copyright © 1997 The Open Group
[ [ Main Index ](../index.html) | [ XSH ](../xshix.html) | [ XCU
](../xcuix.html) | [ XBD ](../xbdix.html) | [ XCURSES ](../cursesix.html) | [
XNS ](../xnsix.html) ]


Download and Compile the Radar Package
0. Get the ROS2 Function Package for Radar
cd ~


> None.


    * [ Enterprise ](/enterprise)
    * [ Teams ](/team)
    * [ Startups ](/enterprise/startups)
    * [ Education  ](https://education.github.com)


No releases published


* The product is LDROBOT LiDAR LD06


##  [ Releases ](/ldrobotSensorTeam/ldlidar_ros2/releases)


[ src ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/src "src")


sudo apt update
Upgrade the software:


###  Forks


####  SEE ALSO


    cd ~/ldlidar_ros2_ws

    colcon build


Note: [Fixed Frame] coordinate system, [LaserScan] topic, [map] topic should
be the same as published.


    * start ld19 lidar node:

        ros2 launch ldlidar_ros2 ld19.launch.py


[ Activity  ](/ldrobotSensorTeam/ldlidar_ros2/activity)


Modules Usage Tutorial
Simple Test of Lidar in Windows
Prepare Test Software
Prepare Test Hardware
How to Test
Lidar Connection for the Raspberry Pi Host
Publishing LIDAR Topics in ROS2
Install ROS2
Download and Compile the Radar Package
0. Get the ROS2 Function Package for Radar
1. System Setting
2. How to Compile
3. Running Method
3.1 Setting up Environment Variables for Function Packages
3.2 Enable Lidar Node
4. Test
To Top
Login / Create Account


* In actual use, the LiDAR can be set according to the actual mounted status of your system, you can use 'ls -l /dev' command to view.


####  DERIVATION


[ README.md ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/README.md
"README.md")


####  FUTURE DIRECTIONS


[ include ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/include "include")


##  1ãRemap the USB serial port


Search


By Solution


MIT license


##  [ Contributors  2  ](/ldrobotSensorTeam/ldlidar_ros2/graphs/contributors)


##  step 4: Data visualization


ROS 2 official websiteï¼  [ https://docs.ros.org/ ](https://docs.ros.org/)


    xxxxxxxxxx

    ls -l /dev | grep ttyUSB


[ ](https://github.com/)


    * start ld06 lidar node:

        ros2 launch ldlidar_ros2 ld06.launch.py


sudo apt install ros-humble-desktop
Install the development tool, compiler, and other tools for building the ROS package:


##  Languages


> pthread_mutex_init, pthread_mutex_destroy - initialise or destroy a mutex


[ .gitignore ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/.gitignore
".gitignore")


Cancel  Submit feedback


    cd ~

    mkdir -p ldlidar_ros2_ws/src

    cd ldlidar_ros2_ws/src

    git clone  https://github.com/ldrobotSensorTeam/ldlidar_ros2.git

    git submodule update --init --recursive


mkdir -p my_ws/src


Use the following command to view the modified remapping


[ Custom properties  ](/ldrobotSensorTeam/ldlidar_ros2/custom-properties)


    xxxxxxxxxx

    ros2 launch ldlidar_stl_ros2 ld06.launch.py


* Connect the LiDAR to your system motherboard via an onboard serial port or usB-to-serial module (for example, CP2102 module).


LDROBOT LiDAR ROS2 Package(NEW)


###  Stars


    cd ~/ldlidar_ros2_ws

    sudo chmod 777 /dev/ttyUSB0


Name


To perform this step, run the installation USB port remapping command in the
scripts folder of the ldlidar_stl_ros2 function package


4) Fix the error in the description of the
document
2.5 2022-06-25
1) Added support for ROS2 Humble version;
2) Modify Rviz, Rviz2 to display therelevant
content of laser point cloud;
3) Modify the relevant content of theWindows
point cloud host computer


  * [ Code  ](/ldrobotSensorTeam/ldlidar_ros2)
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###


[ ldrobotSensorTeam ](/ldrobotSensorTeam) /  **[ ldlidar_ros2
](/ldrobotSensorTeam/ldlidar_ros2) ** Public


Last commit message


We read every piece of feedback, and take your input very seriously.


* Modify the ` port_name ` value in the Lanuch file corresponding to the radar product model under ` launch/ ` , using ` ld14.launch.py ` as an example, as shown below.


Note: the [Fixed Frame] coordinate system and [LaserScan] topics should be
consistent with those published.


sudo apt install software-properties-common
sudo add-apt-repository universe
Add ROS2 GPG Key to apt:
sudo apt update && sudo apt install curl
sudo curl -sSL  https://raw.githubusercontent.com/ros/rosdistro/master/ros.key sudo curl -sSL
Add the software library address to "sources":


  * README
  * MIT license


[ package.xml ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/package.xml
"package.xml")


* Open Source


##  Footer


[ LICENSE ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/LICENSE "LICENSE")


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


  * [ Code  ](/ldrobotSensorTeam/ldlidar_ros2)
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  * [ Projects  ](/ldrobotSensorTeam/ldlidar_ros2/projects)
  * [ Security  ](/ldrobotSensorTeam/ldlidar_ros2/security)
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[ .gitmodules ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/.gitmodules
".gitmodules")


[ README.md ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/README.md
"README.md")


##  step 3: run


  # Define LaunchDescription variable
  ld = LaunchDescription()


> Derived from the POSIX Threads Extension (1003.1c-1995)


    * start ld06 lidar node and show on the Rviz2:

        ros2 launch ldlidar_ros2 viewer_ld06.launch.py


LDROBOT LiDAR ROS2 Package(NEW)


[ ](/ldrobotSensorTeam/ldlidar_ros2/branches) [
](/ldrobotSensorTeam/ldlidar_ros2/tags)


* [ Pricing ](/pricing)


    * start ld14p lidar node and show on the Rviz2:

        ros2 launch ldlidar_ros2 viewer_ld14p.launch.py


** Note: Every time a new terminal is opened, it needs to [update the
environment]. Every time the code in the function pack is changed, it needs to
[re-compile] and then update the environment.  **


###  Watchers


cecho "source /opt/ros/humble/setup.bash" >> ~/.bashrc
Close the current terminal window, open a new one, and proceed with the subsequent tutorials.


Query


** Device : PCï¼LD 06ï¼LD 19ï¼  **


###  Topics


[ include ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/include "include")


>
>
>     #include <[pthread.h](pthread.h.html)>
>
>     int pthread_mutex_init(pthread_mutex_t * _mutex_ ,
>         const pthread_mutexattr_t * _attr_ );
>     int pthread_mutex_destroy(pthread_mutex_t * _mutex_ );
>     pthread_mutex_t _mutex_ = PTHREAD_MUTEX_INITIALIZER;
>
>


[ src ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/src "src")


> The code supports ubuntu 20.04 ros2 foxy version and above, using rviz2
> visualization.


[ 6  stars ](/ldrobotSensorTeam/ldlidar_ros2/stargazers) [ 4  forks
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[ .gitignore ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/.gitignore
".gitignore")


Search or jump to...


[ ros2 ](/topics/ros2 "Topic: ros2") [ ld06 ](/topics/ld06 "Topic: ld06") [
ldrobot ](/topics/ldrobot "Topic: ldrobot") [ ld19 ](/topics/ld19 "Topic:
ld19") [ ld14 ](/topics/ld14 "Topic: ld14") [ ld14p ](/topics/ld14p "Topic:
ld14p")


mkdir -p ldlidar_ros2_ws/src


For


###  step3.2: start LiDAR node


Code


[ rviz2 ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/rviz2 "rviz2")


* The product is LDROBOT LiDAR LD14P


[ README_CN.md ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/README_CN.md
"README_CN.md")


Go to file


    * start ld14 lidar node and show on the Rviz2:

        ros2 launch ldlidar_ros2 viewer_ld14.launch.py


[ Sign in
](/login?return_to=https%3A%2F%2Fgithub.com%2FldrobotSensorTeam%2Fldlidar_ros2)


> None.


LiDARLD19DevelopmentManual
LD19 Development Manual V2.52
Content:
1. PRODUCT DESCRIPTION................................................................................... 32. COMMUNICATION INTERFACE.......................................................................... 43. DATAPROTOCOL................................................................................................ 63.1. Data packet format................................................................................63.2. Measurement data analysis.................................................................. 93.3. Example............................................................................................... 104. COORDINATE SYSTEM..................................................................................... 115. DEVELOPMENT KIT INSTRUCTIONS ................................................................ 125.1. How to use the assessment tool......................................................... 125.1.1. Hardware cable connection and description....................................125.1.2. Driver installation under Windows...................................................135.1.3. Using LdsPointCloudViewer software under Windows....................155.2. Product 3D model file..........................................................................165.3. Operation based on ROS under Linux ................................................. 165.3.1. ROS environment introduction and installation...............................165.3.2. Get the source code of the ROS Package..........................................175.3.3. Set device permissions......................................................................175.3.4. Build and environment settings........................................................185.3.5. Run node and Rviz display LiDAR point cloud...................................195.4. Operation based on ROS2 under Linux ............................................... 205.4.1. ROS2 environment introduction and installation.............................205.4.2. Get the source code of ROS2 Package..............................................205.4.3. Set device permissions......................................................................215.4.4. Build and environment settings........................................................225.4.5. Run node and Rviz2 display LiDAR point cloud.................................235.5. Instructions for using SDK under Linux ................................................245.5.1. Get the source code of SDK.............................................................. 245.5.2. Set device permissions......................................................................245.5.3. Build.................................................................................................. 255.5.4. Run binary program.......................................................................... 255.6. Instructions for using ROS based on Raspberry Pi SBC....................... 265.6.1 Introduction to mirroring..................................................................265.6.2 Mirror usage..................................................................................... 266. REVISION HISTORY.......................................................................................... 28
LD19 Development Manual V2.53
1. PRODUCT DESCRIPTIONThe LD19 is mainly composed of laser ranging core, wireless telex unit, wireless
communication unit, angle measurement unit, motor drive unit and mechanical
casing. The LD19 ranging core uses DTOF technology, which can measure 4,500 times
per second. Each time the distance is measured, the LD19 emits an infraredlaser
forward, and the laser is reflected to the single-photon receiving unit after
encountering the target object. From this, we obtained the time when the laser was
emitted and the time when the single-photon receiving unit received the laser. Thetime difference between the two is the time of flight of light. The time of flight canbe combined with the speed of light to calculate the distance. After obtaining the distance data, the LD19 will combine the angle values
measured by the angle measurement unit to form point cloud data, and thensendthe point cloud data to the external interface through wireless communication. LD19supports internal speed control, the speed can be stabilized to 10±0.1Hz within3seconds after power-on. At the same time, PWM external input interface is providedto support external speed control. After the external control unit obtains the speed,
it is controlled by PID algorithm closed-loop, and the PWM signal is input to maketheLD19 reach the specified speed. An illustration of the environmental scan formed by the LD19 point cloud datais
shown below:
LD19 Development Manual V2.54
2. COMMUNICATION INTERFACEThe LD19 uses ZH1.5T-4P 1.5mm connector to connect with external systemtorealize power supply and data reception. The specific interface definitionandparameter requirements are shown in the following figure/table:
The LD19 has a motor
driver with stepless speed
regulation, which supports internal speed control and external speed control. Whenthe PWM pin is grounded, the default is internal speed regulation, and the default
speed is 10±0.1Hz. For external speed control, a square wave signal needs to be
connected to the PWM pin, and the start, stop and speed of the motor canbecontrolled through the duty cycle of the PWM signal. Conditions for triggeringexternal speed control: a. Input PWM frequency 20-50K, recommended 30K; b. Dutycycle is within (45%, 55%) interval (excluding 45% and 55%), and at least 100ms
continuous input time. After the external speed control is triggered, it is always intheexternal speed control state, and the internal speed control will be restored unless
the power is turned off and restarted; at the same time, the speed control canbeperformed by adjusting the PWM duty cycle. Due to the individual differences of
each product motor, the actual speed may bedifferent when the duty cycle is set toatypical value. To accurately control the motor speed, it is necessary to performclosed-loop control according to the speed information in the received data. Note:
When not using external speed control, the PWM pin must be grounded.
port number
signal name
type descript
ion mini mum
typical maxi mum1 Tx output
LiDAR
data output
0V 3.3V 3.5V2 PWM input motor control
0V - 3.3V3 GND
power supply
negative - 0V - 4 P5V
power supply
positive 4.5V 5V 5.5V
LD19 Development Manual V2.55


[ package.xml ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/package.xml
"package.xml")


##  step 2: build


Additional navigation options


[ CMakeLists.txt ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/CMakeLists.txt
"CMakeLists.txt")


After the installation is complete, connect the USB adapter board inthedevelopment kit to the computer, right-click [My Computer], select [Properties], andin the opened [System] interface, select [Device Manager] in the left menu toenter
Go to the device manager, expand [Ports], you can see the serial port number
corresponding to the recognized CP2102 USB adapter, that is, the driver is installedsuccessfully, and the figure below is COM4.
LD19 Development Manual V2.515
5.1.3. Using LdsPointCloudViewer software under Windows
The point cloud visualization software LdsPointCloudViewer can display thescanned data of this product in real time, and developers can use this softwaretovisually observe the scanning renderings of this product. Before using this software,
it is necessary to distinguish that the driver of the USB adapter board of this product
has been installed successfully, and the product is interconnected with the USBport
of the Windows system PC, then double-click the LdsPointCloudViewer.exe, andselect the corresponding product model and port number, click the Start point cloudrefresh button, as shown in the following figure.
In the above figure,
'Speed' represents the lidar scanning frequency, unit: Hz;
'Rate' represents the lidar data packet resolution rate;
'Valid' represents the valid point for the lidar to measure a circle.
LD19 Development Manual V2.516
5.2. Product 3D model file
Unzip the LiDAR_LD19_3D_stp_V1.0 file to obtain a 3D model file in STP format. 5.3. Operation based on ROS under Linux
5.3.1. ROS environment introduction and installation
ROS (Robot Operating System) is an open source meta-operating systemfor
robots and middleware built on Linux. It provides the services expected of anoperating system, including hardware abstraction, low-level device control,
implementation of commonly used functions, message passing between processes, and package management. It also provides the tools and library functions neededtoobtain, compile, write, and run code across computers. For the installation steps of
each version of ROS, please refer to the official ROS website:
http://wiki.ros.org/ROS/Installation
The ROS function package of this product supports the following versions andenvironments:  ROS Kinetic(Ubuntu16.04);  ROS Melodic(Ubuntu18.04);  ROS Noetic(Ubuntu20.04).
LD19 Development Manual V2.517
# First open the terminal interface, you can use the shortcut key of ctrl+alt+t
# If the Ubuntu system you are using does not have the git tool installed, you can install it as
follows:
$ sudo apt-get install git
# Download the source code of the product ROS function package:
$ cd ~ $ mkdir -p ldlidar_ros_ws/src
$ cd ~/ldlidar_ros_ws/src
$git clone https://github.com/DFRobotdl/ldlidar_stl_ros.git
# or
$ unzip ldlidar_stl_ros.zip
5.3.2. Get the source code of the ROS Package
The source code of the ROS function package of this product is hosted ontherepository of Github. You can download the source code of the master or mainbranch by accessing the repository network link, or download it through thegit
tool.Users can also directly extract SDK_LD19 > ldlidar_stl_ros.zip to the followingpath for use. 1) Repository website address
 https://github.com/DFRobotdl/ldlidar_stl_ros
2) git tool download operation
5.3.3. Set device permissions


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


Include my email address so I can be contacted


##  History


* The product is LDROBOT LiDAR LD19


master


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#  ldrobotSensorTeam/ldlidar_ros2


Explore


    xxxxxxxxxx

    ros2 launch ldlidar_stl_ros2 ld06_gmapping.launch.py


LD06 LiDar ROS2  1ãRemap the USB serial port  2ãrviz2 Visual test
3ãgmapping Build diagram test


##  [ Packages  0  ](/orgs/ldrobotSensorTeam/packages?repo_name=ldlidar_ros2)


sudo apt install ros-dev-tools
Adding sourcing to the shell eliminates the need to manually set up the environment each time you boot in the future.


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


Last commit date

---|---|---|---

##  Latest commit


[ **6** stars ](/ldrobotSensorTeam/ldlidar_ros2/stargazers)


First, connect the lidar to our adapter module (CP2102 adapter), and connect
the module to the computer. Then, open a terminal under the ubuntu systemandenter ls /dev/ttyUSB* to check whether the serial device is connected. If a serial port
device is detected, use the sudo chmod 777 /dev/ttyUSB* command to give it the
LD19 Development Manual V2.518
$ cd ~/ldlidar_ros_ws
$ catkin_make
$ nano ~/ldlidar_ros_ws/src/ldldiar_stl_ros/launch/ld19.launch
highest authority, that is, give the file owner, group, and other users read, write andexecute permissions, as shown in the following figure.
Finally, modify the port_name value in the ld19.launch file inthe~/ldldiar_ros_ws/src/ldlidar_stl_ros/launch/ directory. Take the lidar mounted inthesystem as /dev/ttyUSB0 as an example, as shown below.
Linux nano editor: Ctrl + O saves the edited file; Ctrl + X exits the editing
interface. 5.3.4. Build and environment settings
1) Use the catkin compilation system to compile and build the product
function package:
2) Function package environment variablesettings:
After the compilation is completed, you need to add the relevant files generatedby the compilation to the environment variables, so that the ROS environment can
LD19 Development Manual V2.519
# if ROS_DISTRO in 'kinetic' or 'melodic' $ roslaunch ldlidar_stl_ros viewer_ld19_kinetic_melodic.launch
# if ROS_DISTRO in 'noetic' $ roslaunch ldlidar_stl_ros viewer_ld19_noetic.launch
$ echo source ~/ldlidar_ros_ws/devel/setup.bash >> ~/.bashrc
$ source ~/.bashrc
$ cd ~/ldlidar_ros_ws
$ source devel/setup.bash
$ roslaunch ldlidar_stl_ros ld19.launch
recognize them. The execution command is as follows. This command is totemporarily add environment variables to the terminal, which means that if youreopen a new terminal, you also need to re-execute it. The following command.
In order to never need to execute the above command to add environment
variables after reopening the terminal, you can do the following. 5.3.5. Run node and Rviz display LiDAR point cloud
Start the lidar node and execute the following command. Start the lidar node and display the lidar point cloud data on Rviz, execute thefollowing command.
LD19 Development Manual V2.520
5.4. Operation based on ROS2 under Linux
5.4.1. ROS2 environment introduction and installation
ROS (Robot Operating System) is an open source meta-operating systemfor
robots and middleware built on Linux. It provides the services expected of anoperating system, including hardware abstraction, low-level device control,
implementation of commonly used functions, message passing between processes, and package management. It also provides the tools and library functions neededtoobtain, compile, write, and run code across computers. The robotics andROScommunity has changed a lot since ROS was launched in 2007. The goal of the ROS2project is to adapt to these changes, leveraging the strengths of ROS1 and improvingon the weaknesses. For the installation steps of ROS2, please refer to the official
website of ROS2:https://docs.ros.org/en/foxy/Installation.html
The ROS2 function package of this product supports the use of the ROS2foxyversion and above. 5.4.2. Get the source code of ROS2 Package
The source code of the ROS2 function package of this product is hosted ontherepositories of Github. You can download the source code of the master or mainbranch by accessing the network link of the repository, or download it throughthegit tool.Users can also directly extract SDK_LD19 > ldlidar_stl_ros2.zip tothefollowing path for use. 1) Repository websiteaddress
 https://github.com/DFRobotdl/ldlidar_stl_ros2
2) git tool download operation
LD19 Development Manual V2.521
$ nano ~/ldlidar_ros2_ws/src/ldldiar_stl_ros2/launch/ld19.launch.py


Name  |  Name  |


> The _pthread_mutex_init()_ function initialises the mutex referenced by
> _mutex_ with attributes specified by _attr_ . If _attr_ is NULL, the default
> mutex attributes are used; the effect is the same as passing the address of
> a default mutex attributes object. Upon successful initialisation, the state
> of the mutex becomes initialised and unlocked.
>
> Attempting to initialise an already initialised mutex results in undefined
> behaviour.
>
> The _pthread_mutex_destroy()_ function destroys the mutex object referenced
> by _mutex_ ; the mutex object becomes, in effect, uninitialised. An
> implementation may cause _pthread_mutex_destroy()_ to set the object
> referenced by _mutex_ to an invalid value. A destroyed mutex object can be
> re-initialised using _pthread_mutex_init()_ ; the results of otherwise
> referencing the object after it has been destroyed are undefined.
>
> It is safe to destroy an initialised mutex that is unlocked. Attempting to
> destroy a locked mutex results in undefined behaviour.
>
> In cases where default mutex attributes are appropriate, the macro
> PTHREAD_MUTEX_INITIALIZER can be used to initialise mutexes that are
> statically allocated. The effect is equivalent to dynamic initialisation by
> a call to _pthread_mutex_init()_ with parameter _attr_ specified as NULL,
> except that no error checks are performed.


[ sdk @ 6148cd3
](/ldrobotSensorTeam/ldlidar_sdk/tree/6148cd3c33ae39adbd7e12faf82567fa8f8e7b0d
"sdk")


[ .gitmodules ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/.gitmodules
".gitmodules")


    * start ld19 lidar node and show on the Rviz2:

        ros2 launch ldlidar_ros2 viewer_ld19.launch.py


[ CMakeLists.txt ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/CMakeLists.txt
"CMakeLists.txt")


[ **1** watching ](/ldrobotSensorTeam/ldlidar_ros2/watchers)


    xxxxxxxxxx

    colcon build               # compile

    source install/setup.bash  # Update the environment


    #!/usr/bin/env python3
    from launch import LaunchDescription
    from launch_ros.actions import Node

    '''
    Parameter Description:
    ---
    - Set laser scan directon:
      1. Set counterclockwise, example: {'laser_scan_dir': True}
      2. Set clockwise,        example: {'laser_scan_dir': False}
    - Angle crop setting, Mask data within the set angle range:
      1. Enable angle crop fuction:
        1.1. enable angle crop,  example: {'enable_angle_crop_func': True}
        1.2. disable angle crop, example: {'enable_angle_crop_func': False}
      2. Angle cropping interval setting:
      - The distance and intensity data within the set angle range will be set to 0.
      - angle >= 'angle_crop_min' and angle <= 'angle_crop_max' which is [angle_crop_min, angle_crop_max], unit is degress.
        example:
          {'angle_crop_min': 135.0}
          {'angle_crop_max': 225.0}
          which is [135.0, 225.0], angle unit is degress.
    '''

    def generate_launch_description():
      # LDROBOT LiDAR publisher node
      ldlidar_node = Node(
          package='ldlidar_ros2',
          executable='ldlidar_ros2_node',
          name='ldlidar_publisher_ld14',
          output='screen',
          parameters=[
            {'product_name': 'LDLiDAR_LD14'},
            {'laser_scan_topic_name': 'scan'},
            {'point_cloud_2d_topic_name': 'pointcloud2d'},
            {'frame_id': 'base_laser'},
            {'port_name': '/dev/ttyUSB0'},
            {'serial_baudrate' : 115200},
            {'laser_scan_dir': True},


  * [ ![@ldrobotsensor](https://avatars.githubusercontent.com/u/66579525?s=64&v=4) ](https://github.com/ldrobotsensor) [ **ldrobotsensor** David  ](https://github.com/ldrobotsensor)
  * [ ![@mingdonghu](https://avatars.githubusercontent.com/u/52943852?s=64&v=4) ](https://github.com/mingdonghu) [ **mingdonghu** David Hu  ](https://github.com/mingdonghu)


New Workspace


####  RETURN VALUE


Clear


[ scripts ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/scripts "scripts")


* Product


    * start ld14p lidar node:

        ros2 launch ldlidar_ros2 ld14p.launch.py


> None.


{{ message }}


1 cd ~/ldlidar_ros2_ws
2
3 colcon build
3. Running Method
3.1 Setting up Environment Variables for Function Packages
After compiling, the relevant files generated by the compilation need to be added to the environment variable for recognition by the ROS environment. The command for adding the environment variable to the terminal temporarily is shown below. This command means that if you open a new terminal, you will need to execute the following command again. (It is recommended to open a new terminal. Usually, compilation and execution need to be performed in different terminal windows, otherwise, there may be problems.)
1 cd ~/ldlidar_ros2_ws
2
3 source install/setup.bash
To permanently avoid executing the command to add the environment variables mentioned above every time you reopen the terminal, you can perform the following steps.
1 echo source ~/ldlidar_ros2_ws/install/setup.bash >> ~/.bashrc
2
3 source ~/.bashrc
3.2 Enable Lidar Node
The product model is LDROBOT LiDAR LD19.
Start the ld19 lidar node (if you don't have a display connected, you should have already completed starting the lidar node and publishing the topic up to this step).
ros2 launch ldlidar_stl_ros2 ld19.launch.py
Start the ld19 lidar node and display the laser data on Rviz2 (if you have a connected display, you can use this method to display the scan results in Rviz2):
ros2 launch ldlidar_stl_ros2 viewer_ld19.launch.py
4. Test
The code supports testing on Ubuntu 20.04 with ROS2 Foxy or higher versions and can be visualized using rviz2.
Open a new terminal (Ctrl + Alt + T), run the command:
rviz2, and open the ldlidar.rviz file in the rviz2 folder of the directory where the readme file is located using the Rviz2 tool.
rviz2


##  2ãrviz2 Visual test


git clone  https://github.com/ldrobotSensorTeam/ldlidar_stl_ros2.git
#Or
git clone  https://gitee.com/ldrobotSensorTeam/ldlidar_stl_ros2.git
1. System Setting
Step 1: Connect the radar to your system's board by means of an onboard UART or USB to serial module (e.g., cp2102 module).
Step 2: Set the serial device-x permissions for the radar to be mounted on your system (take /dev/ttyUSB0 as an example).
In actual use, set it according to the actual mounting situation of the radar in your system, which can be viewed using the command "ls -l /dev".
1 cd ~/ldlidar_ros2_ws
2
3 sudo chmod 777 /dev/ttyUSB0
Step 3: Modify.
The port_name values in the launch file correspond to the radar product model in the launch/ directory, taking ld06.launch.p and /dev/ttyUSB0 as examples, as follows:
#!/usr/bin/env python3
from launch import LaunchDescription
from launch_ros.actions import Node


####  DESCRIPTION


Repositories


##  About


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


#  Saved searches


Decompress the [ldlidar_ros2. zip] function package and put it in the src
folder of your workspace. Open the terminal in the workspace


####  NAME


[ launch ](/ldrobotSensorTeam/ldlidar_ros2/tree/master/launch "launch")


[ Branches  ](/ldrobotSensorTeam/ldlidar_ros2/branches) [ Tags
](/ldrobotSensorTeam/ldlidar_ros2/tags)


###  License


[ LICENSE ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/LICENSE "LICENSE")


echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg]   http://packages.ros.org/ros2/ubuntu/ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http
Update the software library:


    * [ Learning Pathways  ](https://resources.github.com/learn/pathways/)
    * [ White papers, Ebooks, Webinars  ](https://resources.github.com/)
    * [ Customer Stories ](/customer-stories)
    * [ Partners  ](https://partner.github.com/)


    xxxxxxxxxx

    cd ~/my_ws


* [ GitHub Sponsors  Fund open source developers  ](/sponsors)


    * [ All features ](/features)
    * [ Documentation  ](https://docs.github.com)
    * [ GitHub Skills  ](https://skills.github.com/)
    * [ Blog  ](https://github.blog)


##  step 0: get LiDAR ROS2 Package