PX4_yolov5

基于yolov5的无人机仿真平台px4的目标跟踪控制

该仓库基于 PX4-Autopilot and xtdrone仿真平台,安装px4请参照xtdrone仿真平台配置请确保满足yolov5安装条件

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 18.04 (18.04版本请将noetic替换为melodic)

1.1 安装ROS1

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

1.2 安装gazebo

sudo apt-get install ros-noetic-moveit-msgs ros-noetic-object-recognition-msgs ros-noetic-octomap-msgs ros-noetic-camera-info-manager ros-noetic-control-toolbox ros-noetic-polled-camera ros-noetic-controller-manager ros-noetic-transmission-interface ros-noetic-joint-limits-interface
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git
cd ~/catkin_ws
catkin_make

1.3 安装realsense

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
测试 realsense-viewer 或 roslaunch realsense2_camera rs_camera.launch

1.4 安装Mavros

sudo apt-get install ros-noetic-mavros
cd /opt/ros/noetic/lib/mavros
sudo ./install_geographiclib_datasets.sh

1.5 安装PX4

git clone https://github.com/PX4/PX4-Autopilot.git
mv PX4-Autopilot PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.13.2
git submodule update --init --recursive
make px4_sitl_default gazebo

注意:

安装px4请参照xtdrone仿真平台配置
修改 ~/.bashrc，加入以下代码,注意路径匹配。
source ~/catkin_ws/devel/setup.bash
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/

2.Build from source

2.1 克隆仓库

cd ~/catkin_ws/src
git clone https://github.com/doggystyle-star/PX4_yolov5.git
mv PX4_yolov5/models ~/.gazebo
cd PX4_yolov5

2.2 更改启动文件

修改启动脚本文件
cp sitl_config/init.d-posix/* ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
添加launch文件
cp -r sitl_config/launch/* ~/PX4_Firmware/launch/
添加世界文件
cp sitl_config/worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds/
修改部分插件
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.hh ~/PX4_Firmware/Tools/sitl_gazebo/include
修改CMakeLists.txt
cp sitl_config/CMakeLists.txt ~/PX4_Firmware/Tools/sitl_gazebo
修改部分模型文件
cp -r sitl_config/models/* ~/PX4_Firmware/Tools/sitl_gazebo/models/

2.3 删除原编译文件，重新编译PX4固件

cd ~/PX4_Firmware
rm -r build/ devel/
make px4_sitl_default gazebo

2.4 编译yolov5_ros

cd ~/catkin_ws/src
mv PX4_yolov5/yolov5_ros /yolov5_ros
`mv PX4_yolov5/detection_msgs /detection_msgs
cd ..
catkin_make

3.Deirctly Run

注意:

如果没有将工作空间加入.bashrc在使用之前请记得 source devel/setup.bash

Start With the Command.

Start px4

首先加载世界环境:

  roslaunch px4 outdoor1.launch

其次运行yolov5_ros:

  roslaunch yolov5_ros yolov5.launch

建立通信:

  cd ~/catkin_ws/src/PX4_yolov5/communication/
  python3 multirotor_communication.py iris 0

使用键盘控制飞机按照提示将飞机飞到目标附近

  cd ~/catkin_ws/src/PX4_yolov5/control/keyboard/
  python3 multirotor_keyboard_control.py iris 1 vel

关闭键盘控制，启动跟踪控制

  cd ~/catkin_ws/src/PX4_yolov5/control/
  python3 tracking_PID_500.py iris 0

Reference

YOLOv5 official repository: https://github.com/ultralytics/yolov5
YOLOv5_ROS repository: https://github.com/mats-robotics/yolov5_ros

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