QGC地面站无法连接roslanch创建的仿真无人机

godess

如上图所示，已经使用roslanch命令打开了一个仿真环境，可是打开QGC却不能自动连接，是需要设置什么东西吗？

amov_msq

GAZEBO和QGC的链接和MAVROS没有关系，在PX4固件下面编译运行 make px4_sitl_default gazebo. 启动PX4仿真和gazebo，和QGC地面站。看看是否正常链接

amov_msq

目测有多架无人机，最好启动单个的默认的那个。还有就是注意QGC版本，用比较新的。

godess

amov_msq 发表于 2020-3-22 21:59
目测有多架无人机，最好启动单个的默认的那个。还有就是注意QGC版本，用比较新的。 ...

... logging to /home/godess/.ros/log/0ff91254-6c9c-11ea-bad5-001c42ed0fda/roslaunch-ubuntu-16799.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:44073/

SUMMARY
========

CLEAR PARAMETERS
* /mavros/

PARAMETERS
* /gazebo/enable_ros_network: True
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:14540@loca...
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/landing_target/camera/fov_x: 2.0071286398
* /mavros/landing_target/camera/fov_y: 2.0071286398
* /mavros/landing_target/image/height: 480
* /mavros/landing_target/image/width: 640
* /mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /mavros/landing_target/listen_lt: False
* /mavros/landing_target/mav_frame: LOCAL_NED
* /mavros/landing_target/target_size/x: 0.3
* /mavros/landing_target/target_size/y: 0.3
* /mavros/landing_target/tf/child_frame_id: camera_center
* /mavros/landing_target/tf/frame_id: landing_target
* /mavros/landing_target/tf/listen: False
* /mavros/landing_target/tf/rate_limit: 10.0
* /mavros/landing_target/tf/send: True
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/fcu/odom_child_id_des: base_link
* /mavros/odometry/fcu/odom_parent_id_des: map
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: odom
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: odom
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: odom
* /mavros/wheel_odometry/tf/send: False
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /rosdistro: melodic
* /rosversion: 1.14.4
* /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    sitl (px4/px4)
    vehicle_spawn_ubuntu_16799_2352417518294775514 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [16812]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0ff91254-6c9c-11ea-bad5-001c42ed0fda
process[rosout-1]: started with pid [16823]
started core service [/rosout]
process[sitl-2]: started with pid [16831]
INFO  [px4] Creating symlink /home/godess/Firmware/ROMFS/px4fmu_common -> /home/godess/.ros/etc

______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [16832]
process[gazebo_gui-4]: started with pid [16852]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
process[vehicle_spawn_ubuntu_16799_2352417518294775514-5]: started with pid [16861]
process[mavros-6]: started with pid [16866]
  SYS_AUTOCONFIG: curr: 0 -> new: 1
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 3
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 2294028
  CAL_GYRO_PRIME: curr: 0 -> new: 2294028
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG_PRIME: curr: 0 -> new: 197388
  COM_DISARM_LAND: curr: 2.0000 -> new: 0.5000
  COM_OBL_ACT: curr: 0 -> new: 2
  COM_RC_IN_MODE: curr: 0 -> new: 1
  EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
  EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
  COM_ARM_EKF_AB: curr: 0.0017 -> new: 0.0050
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
  MC_PITCH_P: curr: 6.5000 -> new: 6.0000
  MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
  MC_ROLL_P: curr: 6.5000 -> new: 6.0000
  MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
  MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
  MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
  MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
  MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
  MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
  MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
  MPC_SPOOLUP_TIME: curr: 1.0000 -> new: 0.5000
  MPC_TKO_RAMP_T: curr: 3.0000 -> new: 1.0000
[ INFO] [1584922814.112290924]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1584922814.113995057]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1584922814.114147981]: udp0: Remote address: 127.0.0.1:14557
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
[ INFO] [1584922814.114243287]: GCS bridge disabled
  NAV_DLL_ACT: curr: 0 -> new: 2
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 3 -> new: 131
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
  TRIG_INTERFACE: curr: 4 -> new: 3
[ INFO] [1584922814.142134772]: Plugin 3dr_radio loaded
[ INFO] [1584922814.143610152]: Plugin 3dr_radio initialized
[ INFO] [1584922814.143758284]: Plugin actuator_control loaded
[ INFO] [1584922814.146476927]: Plugin actuator_control initialized
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
[ INFO] [1584922814.156004136]: Plugin adsb loaded
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
[ INFO] [1584922814.159133333]: Plugin adsb initialized
[ INFO] [1584922814.159264224]: Plugin altitude loaded
[ INFO] [1584922814.160007036]: Plugin altitude initialized
[ INFO] [1584922814.160089497]: Plugin cam_imu_sync loaded
  PWM_MAX: curr: 2000 -> new: 1950
[ INFO] [1584922814.160938888]: Plugin cam_imu_sync initialized
[ INFO] [1584922814.161036919]: Plugin command loaded
  PWM_MIN: curr: 1000 -> new: 1075
[ INFO] [1584922814.166866477]: Plugin command initialized
[ INFO] [1584922814.167174526]: Plugin companion_process_status loaded
* SYS_AUTOCONFIG: curr: 1 -> new: 0
[ INFO] [1584922814.170487479]: Plugin companion_process_status initialized
[ INFO] [1584922814.170642461]: Plugin debug_value loaded
[ INFO] [1584922814.175142012]: Plugin debug_value initialized
[ INFO] [1584922814.175193005]: Plugin distance_sensor blacklisted
[ INFO] [1584922814.175290487]: Plugin fake_gps loaded
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1584922814.187264940]: Plugin fake_gps initialized
[ INFO] [1584922814.187465897]: Plugin ftp loaded
[ INFO] [1584922814.192270603]: Plugin ftp initialized
[ INFO] [1584922814.192371718]: Plugin global_position loaded
[ INFO] [1584922814.205866033]: Plugin global_position initialized
[ INFO] [1584922814.205972460]: Plugin gps_rtk loaded
[ INFO] [1584922814.208021629]: Plugin gps_rtk initialized
[ INFO] [1584922814.208120632]: Plugin hil loaded
[ INFO] [1584922814.217532086]: Plugin hil initialized
[ INFO] [1584922814.217709552]: Plugin home_position loaded
[ INFO] [1584922814.220507456]: Plugin home_position initialized
[ INFO] [1584922814.220692535]: Plugin imu loaded
[ INFO] [1584922814.226779281]: Plugin imu initialized
[ INFO] [1584922814.226946027]: Plugin landing_target loaded
[ INFO] [1584922814.238333326]: Plugin landing_target initialized
[ INFO] [1584922814.238442680]: Plugin local_position loaded
[ INFO] [1584922814.243380792]: Plugin local_position initialized
[ INFO] [1584922814.243542672]: Plugin log_transfer loaded
[ INFO] [1584922814.245873060]: Plugin log_transfer initialized
[ INFO] [1584922814.246010046]: Plugin manual_control loaded
[ INFO] [1584922814.248261773]: Plugin manual_control initialized
[ INFO] [1584922814.248383783]: Plugin mocap_pose_estimate loaded
[ INFO] [1584922814.251517623]: Plugin mocap_pose_estimate initialized
[ INFO] [1584922814.251674271]: Plugin mount_control loaded
[ INFO] [1584922814.254987362]: Plugin mount_control initialized
[ INFO] [1584922814.255118712]: Plugin obstacle_distance loaded
[ INFO] [1584922814.257696418]: Plugin obstacle_distance initialized
[ INFO] [1584922814.257804583]: Plugin odom loaded
[ INFO] [1584922814.261691026]: Plugin odom initialized
[ INFO] [1584922814.261860128]: Plugin onboard_computer_status loaded
[ INFO] [1584922814.264376490]: Plugin onboard_computer_status initialized
[ INFO] [1584922814.264481361]: Plugin param loaded
[ INFO] [1584922814.266861895]: Plugin param initialized
[ INFO] [1584922814.266973908]: Plugin px4flow loaded
[ INFO] [1584922814.271827302]: Plugin px4flow initialized
[ INFO] [1584922814.271916874]: Plugin rangefinder blacklisted
[ INFO] [1584922814.272031515]: Plugin rc_io loaded
[ INFO] [1584922814.274295413]: Plugin rc_io initialized
[ INFO] [1584922814.274363983]: Plugin safety_area blacklisted
[ INFO] [1584922814.274435114]: Plugin setpoint_accel loaded
[ INFO] [1584922814.276492454]: Plugin setpoint_accel initialized
[ INFO] [1584922814.276606957]: Plugin setpoint_attitude loaded
[ INFO] [1584922814.282889987]: Plugin setpoint_attitude initialized
[ INFO] [1584922814.283096333]: Plugin setpoint_position loaded
[ INFO] [1584922814.293256594]: Plugin setpoint_position initialized
[ INFO] [1584922814.293369967]: Plugin setpoint_raw loaded
[ INFO] [1584922814.299842808]: Plugin setpoint_raw initialized
[ INFO] [1584922814.299979438]: Plugin setpoint_trajectory loaded
[ INFO] [1584922814.302765783]: Plugin setpoint_trajectory initialized
[ INFO] [1584922814.302874159]: Plugin setpoint_velocity loaded
[ INFO] [1584922814.307059688]: Plugin setpoint_velocity initialized
[ INFO] [1584922814.307247453]: Plugin sys_status loaded
[ INFO] [1584922814.313814539]: Plugin sys_status initialized
[ INFO] [1584922814.313922244]: Plugin sys_time loaded
[ INFO] [1584922814.317418557]: TM: Timesync mode: MAVLINK
[ INFO] [1584922814.318274929]: Plugin sys_time initialized
[ INFO] [1584922814.318396913]: Plugin trajectory loaded
[ INFO] [1584922814.322344310]: Plugin trajectory initialized
[ INFO] [1584922814.322495947]: Plugin vfr_hud loaded
[ INFO] [1584922814.323034678]: Plugin vfr_hud initialized
[ INFO] [1584922814.323076333]: Plugin vibration blacklisted
[ INFO] [1584922814.323146698]: Plugin vision_pose_estimate loaded
[ INFO] [1584922814.328474001]: Plugin vision_pose_estimate initialized
[ INFO] [1584922814.328596979]: Plugin vision_speed_estimate loaded
[ INFO] [1584922814.333220745]: Plugin vision_speed_estimate initialized
[ INFO] [1584922814.333400653]: Plugin waypoint loaded
[ INFO] [1584922814.339367300]: Plugin waypoint initialized
[ INFO] [1584922814.339420922]: Plugin wheel_odometry blacklisted
[ INFO] [1584922814.339494306]: Plugin wind_estimation loaded
[ INFO] [1584922814.339992657]: Plugin wind_estimation initialized
[ INFO] [1584922814.340040436]: Autostarting mavlink via USB on PX4
[ INFO] [1584922814.340076531]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584922814.340091070]: Built-in MAVLink package version: 2020.3.3
[ INFO] [1584922814.340108904]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584922814.340126288]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1584922814.634753278]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1584922814.636216185]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1584922814.659239024]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1584922814.660756296]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1584922814.881616, 0.000000]: Loading model XML from file /home/godess/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
[INFO] [1584922814.890012, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1584922815.494320, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1584922815.497846915]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1584922815.745641, 0.144000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584922815.766911486, 0.160000000]: Physics dynamic reconfigure ready.
[vehicle_spawn_ubuntu_16799_2352417518294775514-5] process has finished cleanly
log file: /home/godess/.ros/log/0ff91254-6c9c-11ea-bad5-001c42ed0fda/vehicle_spawn_ubuntu_16799_2352417518294775514-5*.log
非常感谢回答，经过确定，启动单个无人机也无法连接 是否是mavros安装的问题呢

amov_msq

如果用比较新的固件，也确认下QGC的版本问题，最好也是新的QGC版本

godess

amov_msq 发表于 2020-3-23 10:28
如果用比较新的固件，也确认下QGC的版本问题，最好也是新的QGC版本

都是最新的的

godess

amov_msq 发表于 2020-3-23 10:34
GAZEBO和QGC的链接和MAVROS没有关系，在PX4固件下面编译运行 make px4_sitl_default gazebo. 启动PX4仿真和 ...

经过测试，这样可以正常连接，但是使用roslaunch命令启动仿真环境就无法连接，而且无法使用rosrun命令控制无人机，单独启动仿真环境和mavros后，可以使用QGC连接，也可以使用rosrun命令控制无人机

amov_msq

godess 发表于 2020-3-23 13:36
经过测试，这样可以正常连接，但是使用roslaunch命令启动仿真环境就无法连接，而且无法使用rosrun命令控 ...

你的roslaunch脚本估计写法有些出入，核对下，启动脚本

godess

amov_msq 发表于 2020-3-23 17:08
你的roslaunch脚本估计写法有些出入，核对下，启动脚本

我用的下载之后自带的mavros_posix_sitl.launch脚本，启动之后停在下面这个地方不动
然后启动控制ROS程序包无法对无人机进行控制，mavros节点和控制节点都启动了，就是无法控制

节点名称不一样，是因为在初始化时改名了

全部启动之后是这样的，我对节点之间的通信不熟，希望您能给予解答，万分感谢！

godess

amov_msq 发表于 2020-3-23 17:08
你的roslaunch脚本估计写法有些出入，核对下，启动脚本

你好，我用的固件目录下launch文件夹下自带的mavros_posix_sitl.launch