# OpenDrone

**Repository Path**: tyx6/OpenDrone

## Basic Information

- **Project Name**: OpenDrone
- **Description**: No description available
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2025-01-13
- **Last Updated**: 2026-02-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# OpenDrone
基于ROS1的PX4无人机仿真，参考了多个开源项目，并把他们集成在PX4 SITL中，其中：

**控制器（controller文件夹）**

- **geometric_controller**：参考了[Jaeyoung-Lim/mavros_controllers](https://github.com/Jaeyoung-Lim/mavros_controllers) 项目，包含了多个方法。

  启动：

  ```bash
  roslaunch opendrone sitl_geometric_controller.launch # 默认Nonlinear GeometricControl
  # 降落
  # ./shell/trigger_land.sh
  ```

- **se3_controller**：参考了[HITSZ-MAS/se3_controller](https://github.com/HITSZ-MAS/se3_controller) 项目，包含了多个方法。

  启动：

  ```bash
  roslaunch opendrone sitl_se3_controller.launch # 默认 Hopf Fibration on SO(3)
  # 降落
  # ./shell/trigger_land.sh
  ```

- **pid_controller**：里面包含了简单pid（仅供学习）和级联pid。

  启动：

  ```bash
  roslaunch opendrone sitl_pid_controller.launch # 默认 cascade pid
  # 降落
  # ./shell/trigger_land.sh
  ```
  
  

**规划器（planner）**

- **polynomial trajectory generation**：参考了[ethz-asl/mav_trajectory_generation](https://github.com/ethz-asl/mav_trajectory_generation) 项目，是一个基于优化方法的多项式轨迹生成，并不能实时规划与避障。

  启动：

  ```bash
  roslaunch opendrone sitl_mav_trajectory_planner.launch
  ```

- **ego_planner**：参考了[ZJU-FAST-Lab/ego-planner-swarm](https://github.com/ZJU-FAST-Lab/ego-planner-swarm) 项目，需要带深度相机或3D激光雷达的无人机。

  启动：

  ```bash
  roslaunch opendrone sitl_ego_planner.launch # 深度相机
  roslaunch opendrone sitl_ego_planner_mid360.launch # 激光雷达
  ```

  

> 支持 Ubuntu 18.04 ROS Melodic、Ubuntu 20.04 ROS Noetic
## 1. 准备
- **使用之前必须搭建** [PX4无人机仿真环境](https://blog.csdn.net/weixin_55944949/article/details/130895608?spm=1001.2014.3001.5501)

- **创建工作空间**
没有创建工作空间，可以执行下列代码，如果创建了可以跳过
```bash
sudo apt-get install python-catkin-tools python-rosinstall-generator -y

# For Ros Noetic use that:
# sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y
```

```bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws && catkin init # 初始化工作空间
catkin build
```

- **依赖** 

```bash
sudo apt install libgoogle-glog-dev libgflags-dev libeigen3-dev libarmadillo-dev
sudo apt install ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-tf2-geometry-msgs ros-$ROS_DISTRO-laser-geometry ros-$ROS_DISTRO-tf2-sensor-msgs
```

**安装 NLopt 库** 

```bash
git clone -b v2.7.1 https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install
```

## 2. 编译

```bash
cd ~/catkin_ws/src
git clone --recursive https://github.com/Tfly6/OpenDrone.git
cd ~/catkin_ws
catkin build
```
## 3. 运行

### 实例一：以官方案例为例

（ `opendrone/src/basic_example` 目录下是一些基础案例，不包含控制器和规划器）。

- 终端一：启动gazebo仿真
```bash
roslaunch px4 mavros_posix_sitl.launch
```
- 终端二：启动官方案例，起飞两米，并一直悬停
```bash
cd ~/catkin_ws
source ./devel/setup.bash
rosrun opendrone offb_node
```

### 实例二：geometric_controller + polynomial trajectory generation

飞圆形。

- 终端一：启动gazebo仿真
```bash
roslaunch px4 mavros_posix_sitl.launch
```
- 终端二：启动 geometric_controller
```bash
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch opendrone sitl_geometric_controller.launch
```
- 终端三：启动 polynomial trajectory generation
```bash
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch opendrone sitl_mav_trajectory_planner.launch
```
演示视频 👇

[bilibili](https://www.bilibili.com/video/BV1EZTszKEtJ/?share_source=copy_web&vd_source=649164de6e400405dc9e781456725af7)


### 实例三：geometric_controller + ego_planner+深度相机
实时规划与避障

- 配置仿真（可选）：如果没有可用的带深度相机的无人机，可以参考

```bash
# model
# PX4 v1.14之前
cp -r ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/models/depth_camera_new ${YOUR_PX4_PATH}/Tools/sitl_gazebo/models/
cp -r ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/models/iris_depth_camera_new ${YOUR_PX4_PATH}/Tools/sitl_gazebo/models/
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/worlds/outdoor_village.world ${YOUR_PX4_PATH}/Tools/sitl_gazebo/worlds/

# PX4 v1.14 之后
cp -r ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/models/depth_camera_new ${YOUR_PX4_PATH}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
cp -r ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/models/iris_depth_camera_new ${YOUR_PX4_PATH}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/worlds/outdoor_village.world ${YOUR_PX4_PATH}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/
```

```bash
# launch
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/outdoor_depth_camera.launch ${YOUR_PX4_PATH}/launch/
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/px4_config.yaml ${YOUR_PX4_PATH}/launch/
```

- 终端一：启动gazebo仿真

```bash
roslaunch px4 outdoor_depth_camera.launch # 用自己的也行
```
- 终端二：启动 geometric_controller
```bash
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch opendrone sitl_geometric_controller.launch
```
- 终端三：启动 ego-planner
```bash
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch opendrone sitl_ego_planner.launch
```
演示视频 👇

[bilibili](https://www.bilibili.com/video/BV17ZTszKEea/?share_source=copy_web&vd_source=649164de6e400405dc9e781456725af7)

### 实例四：geometric_controller + ego_planner+Mid360

实时规划与避障

- 根据下面仓库配置Mid360仿真 👇

[Tfly6/Mid360_px4_sim_plugin: Plugin for the simulation of the Livox Mid-360 in Gazebo](https://github.com/Tfly6/Mid360_px4_sim_plugin)

- 复制必要文件

```bash
# model
# PX4 v1.14之前
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/worlds/ego_swarm.world ${YOUR_PX4_PATH}/Tools/sitl_gazebo/worlds/

# PX4 v1.14 之后
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/worlds/ego_swarm.world ${YOUR_PX4_PATH}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/
```

```bash
# launch
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/outdoor_mid360.launch ${YOUR_PX4_PATH}/launch/
cp ~/catkin_ws/src/OpenDrone/opendrone/sitl_config/px4_config.yaml ${YOUR_PX4_PATH}/launch/
```

- 终端一：启动gazebo仿真

```bash
roslaunch px4 outdoor_mid360.launch # 用自己的也行
```

- 终端二：启动 geometric_controller

```bash
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch opendrone sitl_geometric_controller.launch
```

- 终端三：启动 ego-planner

```bash
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch opendrone sitl_ego_planner_mid360.launch
```

演示视频 👇

[Mid360 + ego-planner PX4无人机Gazebo仿真demo_哔哩哔哩_bilibili](https://www.bilibili.com/video/BV1dHFsz5EEh/?spm_id_from=333.1387.homepage.video_card.click&vd_source=d59e7d5891b69289e548bcfb7a4948a0)




## 参考

[1] Lee, Taeyoung, Melvin Leoky, and N. Harris McClamroch. "Geometric tracking control of a quadrotor UAV on SE (3)." Decision and Control (CDC), 2010 49th IEEE Conference on. IEEE, 2010.

[2] Faessler, Matthias, Antonio Franchi, and Davide Scaramuzza. "Differential flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories." IEEE Robot. Autom. Lett 3.2 (2018): 620-626.

[3] D. Mellinger and V. Kumar, “Minimum snap trajectory generation and control for quadrotors,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom. (ICRA), Shanghai, China, May 2011, pp. 2520–2525.

[4] X. Zhou, Z. Wang, H. Ye, C. Xu, and F. Gao, “EGO-Planner: An ESDFfree gradient-based local planner for quadrotors,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 478–485, 2021.