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cxr_fuel_ws's Introduction

nlopt 安装

下载cxr_fuel_ws，只适合ubuntu20

启动流程

  • 配置好launch对应的传感器和里程计话题
  • 启动探索launch
  • roslaunch exploration_manager exploration.launch
  • 启动控制节点
  • rosrun exploration_manager fuel_nav
  • 仿真的话，QGC解锁，然后切入offboard模式，此时飞机会飞到1m高度，然后rviz给个2d_nav_goal触发探索即可
  • 实机的话，遥控器先解锁，然后切OFFBOARD开关进入offboard模式，此时飞机会飞到1m高度，然后rviz给个2d_nav_goal触发探索即可

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