{"id":268,"date":"2025-08-22T11:47:00","date_gmt":"2025-08-22T11:47:00","guid":{"rendered":"https:\/\/www.utmsys.org\/zh\/?p=268"},"modified":"2025-08-22T11:47:00","modified_gmt":"2025-08-22T11:47:00","slug":"%e9%80%9a%e8%bf%87uxrce-dds%e5%ae%9e%e7%8e%b0px4%e4%b8%8eros2%e9%80%9a%e4%bf%a1-utmsys","status":"publish","type":"post","link":"https:\/\/www.utmsys.org\/zh\/2025\/08\/22\/%e9%80%9a%e8%bf%87uxrce-dds%e5%ae%9e%e7%8e%b0px4%e4%b8%8eros2%e9%80%9a%e4%bf%a1-utmsys\/","title":{"rendered":"\u901a\u8fc7uXRCE-DDS\u5b9e\u73b0PX4\u4e0eROS2\u901a\u4fe1 | UTMSYS"},"content":{"rendered":"\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4f7f\u7528\u4e32\u53e3\u8fde\u63a5<\/h2>\n\n\n\n<p>\u53c2\u8003 <a href=\"https:\/\/docs.px4.io\/main\/en\/companion_computer\/pixhawk_rpi.html\">https:\/\/docs.px4.io\/main\/en\/companion_computer\/pixhawk_rpi.html<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/user_guide.html\">ROS 2 \u6307\u5357<\/a> \u548c <a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html\">uXRCE-DDS<\/a> \u9875\u9762\u6db5\u76d6\u4e86\u8bbe\u7f6e uXRCE-DDS \u548c ROS \u7684\u9009\u9879\u3002\u672c\u6559\u7a0b\u4f7f\u7528 ROS 2 \u201cHumble\u201d\uff0c\u5e76\u4ecb\u7ecd\u4e86\u4f7f\u7528 RDK X5 Module \u7684\u5177\u4f53\u8bbe\u7f6e\u3002\u8fd9\u4e24\u7bc7\u6307\u5357\u90fd\u503c\u5f97\u4e00\u8bfb\uff01<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Pixhawk\/PX4 \u8bbe\u7f6e<\/h3>\n\n\n\n<p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5728 <code>TELEM2<\/code> \u4e0a\u8bbe\u7f6e ROS 2 \u800c\u4e0d\u662f MAVLink&nbsp;\u3002\u6211\u4eec\u901a\u8fc7\u66f4\u6539 QGroundControl \u4e2d\u7684\u53c2\u6570\u6765\u5b9e\u73b0\u3002QGroundControl \u53ef\u4ee5\u901a\u8fc7 USB \u8fde\u63a5\uff0c\u4e5f\u53ef\u4ee5\u4f7f\u7528\u8fde\u63a5\u5230 <code>TELEM1<\/code> \u7684\u9065\u6d4b\u65e0\u7ebf\u7535\u3002<\/p>\n\n\n\n<p>\u914d\u7f6e\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4f7f\u7528 USB \u7535\u7f06\u5c06 Pixhawk \u4e0e\u7b14\u8bb0\u672c\u7535\u8111\u8fde\u63a5\uff0c\u7136\u540e\u6253\u5f00 QGroundControl\uff08\u5982\u679c\u5f53\u524d\u672a\u8fde\u63a5\uff09\u3002<\/li>\n\n\n\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameters.html\">\u5728 QGroundControl \u4e2d\u68c0\u67e5\/\u66f4\u6539\u4ee5\u4e0b\u53c2\u6570<\/a> \uff1a<br><code>markdown MAV_1_CONFIG = 0 (Disabled) UXRCE_DDS_CFG = 102 (TELEM2) SER_TEL2_BAUD = 921600<\/code><br><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#MAV_1_CONFIG\">MAV_1_CONFIG=0<\/a> \u548c <a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_CFG\">UXRCE_DDS_CFG=102<\/a> \u5206\u522b\u7528\u4e8e\u7981\u7528 TELEM2 \u4e0a\u7684 MAVLink \u548c\u542f\u7528 TELEM2 \u4e0a\u7684 uXRCE-DDS \u5ba2\u6237\u7aef\u3002rate <code>SER_TEL2_BAUD<\/code> \u7528\u4e8e\u8bbe\u7f6e\u901a\u4fe1\u94fe\u8def\u7684\u6570\u636e\u901f\u7387\u3002\u60a8\u4e5f\u53ef\u4ee5\u4f7f\u7528\u6216<br>\u7c7b\u4f3c\u5730\u914d\u7f6e\u8fde\u63a5\u3002 <code>TELEM1``MAV_1_CONFIG``MAV_0_CONFIG<\/code><br>\u4fe1\u606f<br>\u60a8\u9700\u8981\u91cd\u65b0\u542f\u52a8\u98de\u884c\u63a7\u5236\u5668\u624d\u80fd\u5e94\u7528\u5bf9\u8fd9\u4e9b\u53c2\u6570\u7684\u4efb\u4f55\u66f4\u6539\u3002<\/li>\n\n\n\n<li>\u68c0\u67e5 <a href=\"https:\/\/docs.px4.io\/main\/en\/modules\/modules_system.html#uxrce-dds-client\">uxrce_dds_client\u6a21\u5757\u662f\u5426\u6b63\u5728\u8fd0\u884c\u3002\u60a8\u53ef\u4ee5\u5728 QGroundControl<\/a> <a href=\"https:\/\/docs.qgroundcontrol.com\/master\/en\/qgc-user-guide\/analyze_view\/mavlink_console.html\">MAVLink \u63a7\u5236\u53f0<\/a> \u4e2d\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u6267\u884c\u6b64\u64cd\u4f5c\uff1a<br><code>markdown uxrce_dds_client status<\/code><\/li>\n<\/ol>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>\u5982\u679c\u5ba2\u6237\u7aef\u6a21\u5757\u672a\u8fd0\u884c\uff0c\u60a8\u53ef\u4ee5\u5728 MAVLink \u63a7\u5236\u53f0\u4e2d\u624b\u52a8\u542f\u52a8\u5b83\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>uxrce_dds_client start -t serial -d \/dev\/ttyS4 -b 921600<\/code><\/pre>\n\n\n\n<p>\u8bf7\u6ce8\u610f\uff0c <code>\/dev\/ttyS4<\/code> \u662fUSX10 Pixhawk 6X\u4e0a\u7684PX4 <code>TELEM2<\/code> \u7aef\u53e3\u6620\u5c04\u3002\u5bf9\u4e8e\u5176\u4ed6\u98de\u884c\u63a7\u5236\u5668\uff0c\u8bf7\u67e5\u770b\u5176\u6982\u89c8\u9875\u9762\u4e2d\u7684 <a href=\"https:\/\/docs.px4.io\/main\/en\/flight_controller\/pixhawk6x.html#serial-port-mapping\">\u4e32\u884c\u7aef\u53e3\u6620\u5c04\u90e8\u5206<\/a> \u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">RDK X5 Module \u4e0a\u7684 ROS \u8bbe\u7f6e<\/h3>\n\n\n\n<p>\u5728 RDK X5 Module\u4e0a\u8bbe\u7f6e ROS 2 \u548c Micro XRCE-DDS Agent \u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6309\u7167 <a href=\"https:\/\/developer.d-robotics.cc\/rdk_doc\/Robot_development\/quick_start\/install_tros\">\u5b98\u65b9\u6559\u7a0b<\/a> \u5b89\u88c5 ROS 2 Humble \u3002<\/li>\n\n\n\n<li>\u4f7f\u7528 RDK X5 Module \u7ec8\u7aef\u5b89\u88c5 git\uff1a<br><code>markdown sudo apt install git<\/code><\/li>\n\n\n\n<li>\u5b89\u88c5 uXRCE_DDS \u4ee3\u7406\uff1a<br><code>markdown git clone https:\/\/github.com\/eProsima\/Micro-XRCE-DDS-Agent.git cd Micro-XRCE-DDS-Agent mkdir build cd build cmake .. make sudo make install sudo ldconfig \/usr\/local\/lib\/<\/code><br>\u8bf7\u53c2\u9605 <a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html#micro-xrce-dds-agent-installation\">uXRCE-DDS > Micro XRCE-DDS \u4ee3\u7406\u5b89\u88c5\uff0c<\/a> \u4e86\u89e3\u5b89\u88c5\u4ee3\u7406\u7684\u5176\u4ed6\u65b9\u6cd5\u3002<\/li>\n\n\n\n<li>\u5728 RDK X5 Module \u7ec8\u7aef\u4e2d\u542f\u52a8\u4ee3\u7406\uff1a<br><code>markdown sudo MicroXRCEAgent serial --dev \/dev\/ttyS2 -b 921600<\/code><br>\u8bf7\u6ce8\u610f\u6211\u4eec\u5982\u4f55\u4f7f\u7528\u4e4b\u524d\u8bbe\u7f6e\u7684\u4e32\u884c\u7aef\u53e3\u4ee5\u53ca\u4e0e PX4 \u76f8\u540c\u7684\u6ce2\u7279\u7387\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u73b0\u5728\u4ee3\u7406\u548c\u5ba2\u6237\u7aef\u90fd\u5df2\u8fd0\u884c\uff0c\u60a8\u5e94\u8be5\u5728 MAVLink \u63a7\u5236\u53f0\u548c RDK X5 Module \u7ec8\u7aef\u4e0a\u90fd\u80fd\u770b\u5230\u6d3b\u52a8\u3002\u60a8\u53ef\u4ee5\u5728 RDK X5 Module \u4e0a\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u53ef\u7528\u7684\u4e3b\u9898\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>source \/opt\/ros\/humble\/setup.bash\nros2 topic list<\/code><\/pre>\n\n\n\n<p>\u5c31\u662f\u8fd9\u6837\u3002\u8fde\u63a5\u6210\u529f\u540e\uff0c\u8bf7\u53c2\u9605 <a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/user_guide.html\">ROS 2 \u6307\u5357<\/a> \uff0c\u4e86\u89e3\u66f4\u591a\u5173\u4e8e\u4f7f\u7528 PX4 \u548c ROS 2 \u7684\u4fe1\u606f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4f7f\u7528\u4ee5\u592a\u7f51\u8fde\u63a5<\/h2>\n\n\n\n<p>PX4 v1.14<\/p>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>uXRCE-DDS \u53d6\u4ee3\u4e86PX4 v1.13 \u4e2d\u4f7f\u7528\u7684 <a href=\"https:\/\/docs.px4.io\/v1.13\/en\/middleware\/micrortps.html#rtps-dds-interface-px4-fast-rtps-dds-bridge\">Fast-RTPS Bridge<\/a> \u3002\u5982\u679c\u60a8\u4e4b\u524d\u4f7f\u7528\u7684\u662f Fast-RTPS Bridge\uff0c\u8bf7\u9075\u5faa <a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html#fast-rtps-to-uxrce-dds-migration-guidelines\">\u8fc1\u79fb\u6307\u5357<\/a> \u3002<\/p>\n\n\n\n<p>PX4 \u4f7f\u7528 uXRCE-DDS \u4e2d\u95f4\u4ef6\uff0c\u5141\u8bb8\u5728\u914d\u5957\u8ba1\u7b97\u673a\u4e0a\u53d1\u5e03\u548c\u8ba2\u9605 <a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uorb.html\">uORB \u6d88\u606f\uff0c\u5c31\u50cf<\/a> <a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/user_guide.html\">ROS 2<\/a> \u4e3b\u9898\u4e00\u6837\u3002\u8fd9\u5b9e\u73b0\u4e86 PX4 \u4e0e ROS 2 \u4e4b\u95f4\u5feb\u901f\u53ef\u9760\u7684\u96c6\u6210\uff0c\u5e76\u4f7f ROS 2 \u5e94\u7528\u7a0b\u5e8f\u80fd\u591f\u66f4\u8f7b\u677e\u5730\u83b7\u53d6\u8f66\u8f86\u4fe1\u606f\u5e76\u53d1\u9001\u547d\u4ee4\u3002<\/p>\n\n\n\n<p>PX4 \u4f7f\u7528\u5229\u7528 <a href=\"https:\/\/micro-xrce-dds.docs.eprosima.com\/en\/stable\/introduction.html\">eProsima Micro XRCE-DDS \u7684<\/a> XRCE-DDS \u5b9e\u73b0\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u6307\u5357\u4ecb\u7ecd\u4e86\u8bbe\u7f6e\u5ba2\u6237\u7aef\u548c\u4ee3\u7406\u7684\u67b6\u6784\u548c\u5404\u79cd\u9009\u9879\u3002\u5b83\u7279\u522b\u6db5\u76d6\u4e86\u5bf9 PX4 \u7528\u6237\u6700\u91cd\u8981\u7684\u9009\u9879\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u67b6\u6784<\/h3>\n\n\n\n<p>uXRCE-DDS \u4e2d\u95f4\u4ef6\u7531\u8fd0\u884c\u5728 PX4 \u4e0a\u7684\u5ba2\u6237\u7aef\u548c\u8fd0\u884c\u5728\u914d\u5957\u8ba1\u7b97\u673a\u4e0a\u7684\u4ee3\u7406\u7ec4\u6210\uff0c\u5b83\u4eec\u4e4b\u95f4\u901a\u8fc7\u4e32\u884c\u6216 UDP \u94fe\u8def\u8fdb\u884c\u53cc\u5411\u6570\u636e\u4ea4\u6362\u3002\u4ee3\u7406\u5145\u5f53\u5ba2\u6237\u7aef\u7684\u4ee3\u7406\uff0c\u4f7f\u5176\u80fd\u591f\u53d1\u5e03\u548c\u8ba2\u9605\u5168\u5c40 DDS \u6570\u636e\u7a7a\u95f4\u4e2d\u7684\u4e3b\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/docs.px4.io\/main\/assets\/architecture_xrce-dds_ros2.CpY9H3P9.svg\" alt=\"uXRCE-DDS \u4e0e ROS 2 \u67b6\u6784\"\/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u4f7f PX4 uORB \u4e3b\u9898\u80fd\u591f\u5728 DDS \u7f51\u7edc\u4e0a\u5171\u4eab\uff0c\u60a8\u9700\u8981\u5728 PX4 \u4e0a\u8fd0\u884c_uXRCE-DDS \u5ba2\u6237\u7aef_\uff0c\u5e76\u5c06\u5176\u8fde\u63a5\u5230\u5728\u914d\u5957\u8bbe\u5907\u4e0a\u8fd0\u884c\u7684_\u5fae\u578b XRCE-DDS \u4ee3\u7406\u3002_<\/p>\n\n\n\n<p>PX4 <a href=\"https:\/\/docs.px4.io\/main\/en\/modules\/modules_system.html#uxrce-dds-client\">uxrce_dds_client<\/a> \u5c06\u5185\u5bb9\u53d1\u5e03\u5230\/\u4ece\u4e00\u7ec4\u5b9a\u4e49\u7684 uORB \u4e3b\u9898\u5230\u5168\u5c40 DDS \u6570\u636e\u7a7a\u95f4\u3002<\/p>\n\n\n\n<p>eProsima <a href=\"https:\/\/github.com\/eProsima\/Micro-XRCE-DDS-Agent\">micro XRCE-DDS_\u4ee3\u7406_<\/a> \u5728\u914d\u5957\u8ba1\u7b97\u673a\u4e0a\u8fd0\u884c\uff0c\u5e76\u5145\u5f53 DDS\/ROS 2 \u7f51\u7edc\u4e2d\u5ba2\u6237\u7aef\u7684\u4ee3\u7406\u3002<\/p>\n\n\n\n<p>\u4ee3\u7406\u672c\u8eab\u4e0d\u4f9d\u8d56\u4e8e\u5ba2\u6237\u7aef\u4ee3\u7801\uff0c\u53ef\u4ee5\u72ec\u7acb\u4e8e PX4 \u6216 ROS \u6784\u5efa\u548c\/\u6216\u5b89\u88c5\u3002<\/p>\n\n\n\n<p>\u60f3\u8981\u8ba2\u9605\/\u53d1\u5e03\u5230 PX4 \u7684\u4ee3\u7801\u786e\u5b9e\u4f9d\u8d56\u4e8e\u5ba2\u6237\u7aef\u4ee3\u7801\uff1b\u5b83\u9700\u8981\u4e0e\u7528\u4e8e\u521b\u5efa PX4 uXRCE-DDS \u5ba2\u6237\u7aef\u7684 uORB \u6d88\u606f\u5b9a\u4e49\u76f8\u5339\u914d\u7684 uORB \u6d88\u606f\u5b9a\u4e49\uff0c\u4ee5\u4fbf\u5b83\u53ef\u4ee5\u89e3\u91ca\u6d88\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4ee3\u7801\u751f\u6210<\/h3>\n\n\n\n<p>PX4 <a href=\"https:\/\/docs.px4.io\/main\/en\/modules\/modules_system.html#uxrce-dds-client\">uxrce_dds_client<\/a> \u5728\u6784\u5efa\u65f6\u751f\u6210\uff0c\u5e76\u9ed8\u8ba4\u5305\u542b\u5728 PX4 \u56fa\u4ef6\u4e2d\u3002\u8be5\u4ee3\u7406\u4e0d\u4f9d\u8d56\u5ba2\u6237\u7aef\u4ee3\u7801\u3002\u5b83\u53ef\u4ee5\u72ec\u7acb\u6784\u5efa\uff0c\u4e5f\u53ef\u4ee5\u5728 ROS 2 \u5de5\u4f5c\u533a\u4e2d\u6784\u5efa\uff0c\u4e5f\u53ef\u4ee5\u4f5c\u4e3a Ubuntu \u4e0a\u7684 snap \u5305\u5b89\u88c5\u3002<\/p>\n\n\n\n<p>\u6784\u5efa PX4 \u65f6\uff0c\u4ee3\u7801\u751f\u6210\u5668\u4f7f\u7528\u6e90\u6811\uff08 <a href=\"https:\/\/github.com\/PX4\/PX4-Autopilot\/tree\/main\/msg\">PX4-Autopilot\/msg \uff09\u4e2d\u7684 uORB \u6d88\u606f\u5b9a\u4e49\u5c06\u5bf9<\/a> <a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/dds_topics.html\">\/src\/modules\/uxrce_dds_client\/dds_topics.yaml<\/a> \u4e2d\u7684 uORB \u4e3b\u9898\u5b50\u96c6\u7684\u652f\u6301\u7f16\u8bd1\u5230 <a href=\"https:\/\/docs.px4.io\/main\/en\/modules\/modules_system.html#uxrce-dds-client\">uxrce_dds_client<\/a> \u4e2d\u3002<\/p>\n\n\n\n<p>PX4 \u4e3b\u7248\u672c\u6216\u53d1\u5e03\u7248\u672c\u4f1a\u81ea\u52a8\u5c06\u6784\u5efa\u4e2d\u7684\u4e00\u7ec4 uORB \u6d88\u606f\u5b9a\u4e49\u5bfc\u51fa\u5230 <a href=\"https:\/\/github.com\/PX4\/px4_msgs\">PX4\/px4_msgs<\/a> \u4e2d\u7684\u5173\u8054\u5206\u652f\u3002<\/p>\n\n\n\n<p>ROS 2 \u5e94\u7528\u7a0b\u5e8f\u9700\u8981\u5728\u5305\u542b\u4e0e PX4 \u56fa\u4ef6\u4e2d\u521b\u5efa uXRCE-DDS \u5ba2\u6237\u7aef\u6a21\u5757_\u76f8\u540c\u7684\u6d88\u606f\u5b9a\u4e49\u7684\u5de5\u4f5c\u533a\u4e2d\u6784\u5efa\u3002\u60a8\u53ef\u4ee5\u901a\u8fc7\u5c06\u63a5\u53e3\u5305_ <a href=\"https:\/\/github.com\/PX4\/px4_msgs\">PX4\/px4_msgs<\/a> \u514b\u9686\u5230\u60a8\u7684 ROS 2 \u5de5\u4f5c\u533a\u5e76\u5207\u6362\u5230\u76f8\u5e94\u7684\u5206\u652f\uff0c\u5c06\u8fd9\u4e9b\u6d88\u606f\u5b9a\u4e49\u6dfb\u52a0\u5230\u5de5\u4f5c\u533a\u4e2d\u3002\u8bf7\u6ce8\u610f\uff0c\u6240\u6709\u4e0e\u6d88\u606f\u76f8\u5173\u7684\u4ee3\u7801\u751f\u6210\u5747\u7531 ROS 2 \u5904\u7406\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Micro XRCE-DDS \u4ee3\u7406\u5b89\u88c5<\/h3>\n\n\n\n<p>Micro XRCE-DDS Agent \u53ef\u4ee5\u4f7f\u7528\u4e8c\u8fdb\u5236\u5305\u5b89\u88c5\u5728\u914d\u5957\u8ba1\u7b97\u673a\u4e0a\uff0c\u4e5f\u53ef\u4ee5\u4ece\u6e90\u4ee3\u7801\u6784\u5efa\u548c\u5b89\u88c5\uff0c\u6216\u8005\u5728 ROS 2 \u5de5\u4f5c\u533a\u5185\u6784\u5efa\u548c\u8fd0\u884c\u3002\u6240\u6709\u8fd9\u4e9b\u65b9\u6cd5\u90fd\u4f1a\u83b7\u53d6\u4e0e\u5ba2\u6237\u7aef\u901a\u4fe1\u6240\u9700\u7684_\u6240\u6709_\u4f9d\u8d56\u9879\uff08\u4f8b\u5982 FastCDR\uff09\u3002<\/p>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>\u5b98\u65b9\uff08\u4e5f\u662f\u66f4\u5b8c\u6574\u7684\uff09\u5b89\u88c5\u6307\u5357\u662f Eprosima: <a href=\"https:\/\/micro-xrce-dds.docs.eprosima.com\/en\/latest\/installation.html\">micro XRCE-DDS \u5b89\u88c5\u6307\u5357<\/a> \u3002\u672c\u8282\u603b\u7ed3\u4e86\u5728\u521b\u5efa\u8fd9\u4e9b\u6587\u6863\u671f\u95f4\u4f7f\u7528 PX4 \u6d4b\u8bd5\u8fc7\u7684\u9009\u9879\u3002<\/p>\n\n\n\n<p>\u8b66\u544a<\/p>\n\n\n\n<p>PX4 Micro XRCE-DDS Client \u6240\u57fa\u4e8e\u7684\u7248\u672c <code>v2.x<\/code> \u4e0e\u6700\u65b0\u7684 Agent \u7248\u672c\u4e0d\u517c\u5bb9 <code>v3.x<\/code> \u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4ece\u6e90\u4ee3\u7801\u5b89\u88c5\u72ec\u7acb\u7248\u672c<\/h4>\n\n\n\n<p>\u5728 Ubuntu \u4e0a\uff0c\u4f60\u53ef\u4ee5\u4ece\u6e90\u4ee3\u7801\u6784\u5efa\u5e76\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5 Agent \u72ec\u7acb\u7248\u672c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone -b v2.4.2 https:\/\/github.com\/eProsima\/Micro-XRCE-DDS-Agent.git\ncd Micro-XRCE-DDS-Agent\nmkdir build\ncd build\ncmake ..\nmake\nsudo make install\nsudo ldconfig \/usr\/local\/lib\/<\/code><\/pre>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p><a href=\"https:\/\/micro-xrce-dds.docs.eprosima.com\/en\/latest\/installation.html#installing-the-agent-standalone\">\u5b98\u65b9\u6307\u5357<\/a> \u4e2d\u7684\u76f8\u5e94\u4e3b\u9898\u94fe\u63a5\u4e86\u5404\u79cd\u6784\u5efa\u914d\u7f6e\u9009\u9879\uff0c\u4f46\u8fd9\u4e9b\u9009\u9879\u5c1a\u672a\u7ecf\u8fc7\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<p>\u8981\u542f\u52a8\u4ee3\u7406\u5e76\u8bbe\u7f6e\u8fde\u63a5\u5230\u6a21\u62df\u5668\u4e0a\u8fd0\u884c\u7684 uXRCE-DDS \u5ba2\u6237\u7aef\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>MicroXRCEAgent udp4 -p 8888<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\">\u4ece Snap \u5305\u5b89\u88c5<\/h4>\n\n\n\n<p>\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u4ece Ubuntu \u4e0a\u7684 snap \u5305\u5b89\u88c5\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo snap install micro-xrce-dds-agent --edge<\/code><\/pre>\n\n\n\n<p>\u8981\u542f\u52a8\u4ee3\u7406\uff0c\u5e76\u4f7f\u7528\u8fde\u63a5\u5230\u6a21\u62df\u5668\u4e0a\u8fd0\u884c\u7684 uXRCE-DDS \u5ba2\u6237\u7aef\u7684\u8bbe\u7f6e\uff08\u8bf7\u6ce8\u610f\uff0c\u547d\u4ee4\u540d\u79f0\u4e0e\u60a8\u5728\u672c\u5730\u6784\u5efa\u4ee3\u7406\u65f6\u7684\u4e0d\u540c\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>micro-xrce-dds-agent udp4 -p 8888<\/code><\/pre>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>\u5728\u64b0\u5199\u672c\u6587\u65f6\uff0c\u4ece snap \u5b89\u88c5\u7684\u7a33\u5b9a\u7248\u672c\u53ef\u4ee5\u8fde\u63a5\u5230 PX4\uff0c\u4f46\u5728\u521b\u5efa\u4e3b\u9898\u65f6\u4f1a\u62a5\u9519\u3002\u4f7f\u7528 <code>--edge<\/code> \u4e0a\u9762\u83b7\u53d6\u7684\u5f00\u53d1\u7248\u672c\u53ef\u4ee5\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u5728 ROS 2 \u5de5\u4f5c\u533a\u5185\u6784\u5efa\/\u8fd0\u884c<\/h4>\n\n\n\n<p>\u53ef\u4ee5\u5728 ROS 2 \u5de5\u4f5c\u533a\u5185\u6784\u5efa\u548c\u542f\u52a8\u4ee3\u7406\uff08\u6216\u72ec\u7acb\u6784\u5efa\u5e76\u4ece\u5de5\u4f5c\u533a\u542f\u52a8\uff09\u3002\u60a8\u5fc5\u987b\u5df2\u7ecf\u6309\u7167 <a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/user_guide.html#install-ros-2\">ROS 2 \u7528\u6237\u6307\u5357 &gt; \u5b89\u88c5 ROS 2 \u4e2d\u7684\u8bf4\u660e\u5b89\u88c5\u4e86 ROS 2<\/a> \u3002<\/p>\n\n\n\n<p>\u8b66\u544a<\/p>\n\n\n\n<p>\u6b64\u65b9\u6cd5\u5c06\u4f7f\u7528 Agent \u4f9d\u8d56\u9879\u7684\u73b0\u6709 ROS 2 \u7248\u672c\uff0c\u4f8b\u5982 <code>fastcdr<\/code> \u548c <code>fastdds<\/code> \u3002\u8fd9\u5927\u5927\u52a0\u5feb\u4e86\u6784\u5efa\u8fc7\u7a0b\uff0c\u4f46\u8981\u6c42 Agent \u4f9d\u8d56\u9879\u7248\u672c\u4e0e ROS 2 \u7248\u672c\u5339\u914d\u3002<\/p>\n\n\n\n<p>\u8981\u5728 ROS \u4e2d\u6784\u5efa\u4ee3\u7406\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4e3a\u4ee3\u7406\u521b\u5efa\u5de5\u4f5c\u533a\u76ee\u5f55\uff1a<br><code>markdown mkdir -p ~\/px4_ros_uxrce_dds_ws\/src<\/code><\/li>\n\n\n\n<li>\u5c06 eProsima <a href=\"https:\/\/github.com\/eProsima\/Micro-XRCE-DDS-Agent\">Micro-XRCE-DDS-Agent<\/a> \u7684\u6e90\u4ee3\u7801\u514b\u9686\u5230 <code>\/src<\/code> \u76ee\u5f55\uff08 <code>main<\/code> \u9ed8\u8ba4\u514b\u9686\u5206\u652f\uff09\uff1a<br><code>markdown cd ~\/px4_ros_uxrce_dds_ws\/src git clone -b v2.4.2 https:\/\/github.com\/eProsima\/Micro-XRCE-DDS-Agent.git<\/code><\/li>\n\n\n\n<li>\u83b7\u53d6 ROS 2 \u5f00\u53d1\u73af\u5883\uff0c\u5e76\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u7f16\u8bd1\u5de5\u4f5c\u533a <code>colcon<\/code> \uff1a\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html#humble\">humble<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html#foxy\">foxy<\/a><br><code>markdown source \/opt\/ros\/humble\/setup.bash colcon build<\/code><br><code>\/src<\/code> \u8fd9\u5c06\u4f7f\u7528\u6e90\u5de5\u5177\u94fe\u6784\u5efa\u5176\u4e0b\u7684\u6240\u6709\u6587\u4ef6\u5939\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p>\u8981\u5728\u5de5\u4f5c\u533a\u4e2d\u8fd0\u884cMicro XRCE-DDS \u4ee3\u7406\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u4f9b\u6e90 <code>local_setup.bash<\/code> \u4ee5\u4f7f\u53ef\u6267\u884c\u6587\u4ef6\u5728\u7ec8\u7aef\u4e2d\u53ef\u7528\uff08\u5373\u4f7f <code>setup.bash<\/code> \u4f7f\u7528\u65b0\u7ec8\u7aef\uff09\u3002\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html#humble\">humble<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html#foxy\">foxy<\/a><br><code>markdown source \/opt\/ros\/humble\/setup.bash source install\/local_setup.bash<\/code><\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u4f7f\u7528\u8fde\u63a5\u5230\u6a21\u62df\u5668\u4e0a\u8fd0\u884c\u7684 uXRCE-DDS \u5ba2\u6237\u7aef\u7684\u8bbe\u7f6e\u542f\u52a8\u4ee3\u7406\uff1a<br><code>markdown MicroXRCEAgent udp4 -p 8888<\/code><\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">\u542f\u52a8\u4ee3\u7406\u548c\u5ba2\u6237\u7aef<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u542f\u52a8\u4ee3\u7406<\/h4>\n\n\n\n<p>\u4ee3\u7406\u7528\u4e8e\u901a\u8fc7\u7279\u5b9a\u901a\u9053\uff08\u4f8b\u5982 UDP \u6216\u4e32\u884c\u8fde\u63a5\uff09\u8fde\u63a5\u5230\u5ba2\u6237\u7aef\u3002\u901a\u9053\u8bbe\u7f6e\u5728\u4ee3\u7406\u542f\u52a8\u65f6\u4f7f\u7528\u547d\u4ee4\u884c\u9009\u9879\u6307\u5b9a\u3002\u8fd9\u4e9b\u8bbe\u7f6e\u8bb0\u5f55\u5728 eProsima \u7528\u6237\u6307\u5357\u4e2d\uff1a <a href=\"https:\/\/micro-xrce-dds.docs.eprosima.com\/en\/latest\/agent.html#agent-cli\">Micro XRCE-DDS Agent &gt; Agent CLI<\/a> \u3002\u8bf7\u6ce8\u610f\uff0c\u4ee3\u7406\u652f\u6301\u591a\u79cd\u901a\u9053\u9009\u9879\uff0c\u4f46 PX4 \u4ec5\u652f\u6301 UDP \u548c\u4e32\u884c\u8fde\u63a5\u3002<\/p>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>\u60a8\u5e94\u8be5\u4e3a\u9700\u8981\u8fde\u63a5\u7684\u6bcf\u4e2a\u901a\u9053\u521b\u5efa\u4e00\u4e2a\u4ee3\u7406\u5b9e\u4f8b\u3002<\/p>\n\n\n\n<p>\u4f8b\u5982\uff0cPX4 \u6a21\u62df\u5668\u5728\u7aef\u53e3 8888 \u4e0a\u901a\u8fc7 UDP \u8fd0\u884c uXRCE-DDS \u5ba2\u6237\u7aef\uff0c\u56e0\u6b64\u8981\u8fde\u63a5\u5230\u6a21\u62df\u5668\uff0c\u60a8\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u4ee3\u7406\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>MicroXRCEAgent udp4 -p 8888<\/code><\/pre>\n\n\n\n<p>\u4f7f\u7528\u771f\u5b9e\u786c\u4ef6\u65f6\uff0c\u8bbe\u7f6e\u53d6\u51b3\u4e8e\u786c\u4ef6\u3001\u64cd\u4f5c\u7cfb\u7edf\u548c\u901a\u9053\u3002\u4f8b\u5982\uff0c\u5982\u679c\u60a8\u4f7f\u7528\u7684\u662f RPi <code>UART0<\/code> \u4e32\u884c\u7aef\u53e3\uff0c\u5219\u53ef\u4ee5\u4f7f\u7528\u6b64\u547d\u4ee4\u8fdb\u884c\u8fde\u63a5\uff08\u57fa\u4e8e <a href=\"https:\/\/www.raspberrypi.com\/documentation\/computers\/configuration.html#configuring-uarts\">Raspberry Pi \u6587\u6863 &gt; \u914d\u7f6e UARTS<\/a> \u4e2d\u7684\u4fe1\u606f\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo MicroXRCEAgent serial --dev \/dev\/AMA0 -b 921600<\/code><\/pre>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>\u6709\u5173\u8bbe\u7f6e\u901a\u4fe1\u901a\u9053\u7684\u66f4\u591a\u4fe1\u606f\uff0c\u8bf7\u53c2\u9605 <a href=\"https:\/\/docs.px4.io\/main\/en\/companion_computer\/pixhawk_companion.html#serial-port-setup\">Pixhawk + Companion \u8bbe\u7f6e &gt; \u4e32\u884c\u7aef\u53e3\u8bbe\u7f6e<\/a> \u53ca\u5176\u5b50\u6587\u6863\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u542f\u52a8\u5ba2\u6237\u7aef<\/h4>\n\n\n\n<p>\u6240\u6709\u56fa\u4ef6\u548c\u6a21\u62df\u5668\u9ed8\u8ba4\u5305\u542buXRCE-DDS \u5ba2\u6237\u7aef\u6a21\u5757 ( <a href=\"https:\/\/docs.px4.io\/main\/en\/modules\/modules_system.html#uxrce-dds-client\">uxrce_dds_client<\/a> )\u3002\u5fc5\u987b\u6839\u636e\u60a8\u5e0c\u671b\u4e0e\u4ee3\u7406\u901a\u4fe1\u7684\u901a\u9053\u8fdb\u884c\u9002\u5f53\u7684\u8bbe\u7f6e\u6765\u542f\u52a8\u8be5\u6a21\u5757\u3002<\/p>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>\u6a21\u62df\u5668 <code>8888<\/code> \u4f7f\u7528\u9ed8\u8ba4\u7684 uxrce-dds \u547d\u540d\u7a7a\u95f4\u81ea\u52a8\u5728\u672c\u5730\u4e3b\u673a UDP \u7aef\u53e3\u4e0a\u542f\u52a8\u5ba2\u6237\u7aef\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#uxrce-dds-client\">\u53ef\u4ee5\u4f7f\u7528UXRCE-DDS \u53c2\u6570<\/a> \u5b8c\u6210\u914d\u7f6e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_CFG\">UXRCE_DDS_CFG<\/a> \uff1a\u8bbe\u7f6e\u8981\u8fde\u63a5\u7684\u7aef\u53e3\uff0c\u4f8b\u5982 <code>TELEM2<\/code> \u3001 <code>Ethernet<\/code> \u6216 <code>Wifi<\/code> \u3002<\/li>\n\n\n\n<li>\u5982\u679c\u4f7f\u7528\u4ee5\u592a\u7f51\u8fde\u63a5\uff1a\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_PRT\">UXRCE_DDS_PRT<\/a> \uff1a\u7528\u4e8e\u6307\u5b9a\u4ee3\u7406 UDP \u76d1\u542c\u7aef\u53e3\u3002\u9ed8\u8ba4\u503c\u4e3a <code>8888<\/code> \u3002<\/li>\n\n\n\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_AG_IP\">UXRCE_DDS_AG_IP<\/a> \uff1a\u7528\u4e8e\u6307\u5b9a\u4ee3\u7406\u7684 IP \u5730\u5740\u3002 <code>int32<\/code> \u7531\u4e8e PX4 \u4e0d\u652f\u6301\u5b57\u7b26\u4e32\u53c2\u6570\uff0c\u56e0\u6b64\u5fc5\u987b\u4ee5\u5b57\u7b26\u4e32\u683c\u5f0f\u63d0\u4f9b IP \u5730\u5740\u3002\u9ed8\u8ba4 <code>2130706433<\/code> \u503c\u4e3a_localhost_\u00a0 <code>127.0.0.1<\/code> \u3002 \u60a8\u53ef\u4ee5\u4f7f\u7528 <a href=\"https:\/\/github.com\/PX4\/PX4-Autopilot\/blob\/main\/Tools\/convert_ip.py\">Tools\/convert_ip.py<\/a> \u5728\u683c\u5f0f\u4e4b\u95f4\u8fdb\u884c\u8f6c\u6362\uff1a\n<ul class=\"wp-block-list\">\n<li>\u8981\u83b7\u53d6 <code>int32<\/code> \u5341\u8fdb\u5236\u70b9\u8868\u793a\u6cd5\u7684 IP \u7248\u672c\uff0c\u547d\u4ee4\u5982\u4e0b\uff1a<br><code>markdown python3 .\/PX4-Autopilot\/Tools\/convert_ip.py &lt;the IP address in decimal dot notation><\/code><\/li>\n\n\n\n<li>\u8981\u4ece\u7248\u672c\u4e2d\u83b7\u53d6\u5341\u8fdb\u5236\u70b9\u8868\u793a\u6cd5\u7684 IP \u5730\u5740 <code>int32<\/code> \uff1a<br><code>markdown python3 .\/PX4-Autopilot\/Tools\/convert_ip.py -r &lt;the IP address in int32 notation><\/code><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u5982\u679c\u4f7f\u7528\u4e32\u884c\u8fde\u63a5\uff1a\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#SER_TEL2_BAUD\">SER_TEL2_BAUD<\/a> \u3001 <a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#SER_URT6_BAUD\">SER_URT6_BAUD<\/a> \uff08\u7b49\u7b49\uff09\uff1a\u4f7f\u7528 <code>_BAUD<\/code> \u4e0e\u4e32\u884c\u7aef\u53e3\u5173\u8054\u7684\u53c2\u6570\u6765\u8bbe\u7f6e\u6ce2\u7279\u7387\u3002\u4f8b\u5982\uff0c <code>SER_TEL2_BAUD<\/code> \u5982\u679c\u60a8\u4f7f\u7528 \u8fde\u63a5\u5230\u914d\u5957\u8bbe\u5907\uff0c\u5219\u9700\u8981\u8bbe\u7f6e \u7684\u503c <code>TELEM2<\/code> \u3002\u66f4\u591a\u4fe1\u606f\u8bf7\u53c2\u9605 <a href=\"https:\/\/docs.px4.io\/main\/en\/peripherals\/serial_configuration.html#serial-port-configuration\">\u4e32\u884c\u7aef\u53e3\u914d\u7f6e<\/a> \u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u67d0\u4e9b\u8bbe\u7f6e\u53ef\u80fd\u8fd8\u9700\u8981\u8bbe\u7f6e\u8fd9\u4e9b\u53c2\u6570\uff1a\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_KEY\">UXRCE_DDS_KEY<\/a> \uff1auXRCE-DDS \u5bc6\u94a5\u3002\u5982\u679c\u60a8\u4f7f\u7528\u7684\u662f\u591a\u5ba2\u6237\u7aef\u5355\u4ee3\u7406\u914d\u7f6e\uff0c\u5219\u6bcf\u4e2a\u5ba2\u6237\u7aef\u90fd\u5e94\u5177\u6709\u552f\u4e00\u7684\u975e\u96f6\u5bc6\u94a5\u3002\u8fd9\u5bf9\u4e8e\u591a\u8f66\u8f86\u6a21\u62df\u5c24\u5176\u91cd\u8981\uff0c\u56e0\u4e3a\u6240\u6709\u5ba2\u6237\u7aef\u90fd\u901a\u8fc7 UDP \u8fde\u63a5\u5230\u540c\u4e00\u4e2a\u4ee3\u7406\u3002\uff08\u8bf7\u53c2\u9605 <a href=\"https:\/\/micro-xrce-dds.docs.eprosima.com\/en\/stable\/client_api.html#session\">eprosima \u5b98\u65b9\u6587\u6863<\/a> \uff0c <code>uxr_init_session<\/code> \u3002\uff09<\/li>\n\n\n\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_DOM_ID\">UXRCE_DDS_DOM_ID<\/a> \uff1aDDS \u57df ID\u3002\u8fd9\u5728 DDS \u7f51\u7edc\u4e4b\u95f4\u63d0\u4f9b\u4e86\u903b\u8f91\u9694\u79bb\uff0c\u5e76\u53ef\u7528\u4e8e\u533a\u5206\u4e0d\u540c\u7f51\u7edc\u4e0a\u7684\u5ba2\u6237\u7aef\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0cROS 2 \u5728 ID 0 \u4e0a\u8fd0\u884c\u3002<\/li>\n\n\n\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_PTCFG\">UXRCE_DDS_PTCFG<\/a> \uff1auXRCE-DDS \u53c2\u4e0e\u8005\u914d\u7f6e\u3002\u5b83\u5141\u8bb8\u5c06 DDS \u4e3b\u9898\u7684\u53ef\u89c1\u6027\u9650\u5236\u4e3a\u4ec5\u9650_\u672c\u5730\u4e3b\u673a_\uff0c\u5e76\u4f7f\u7528\u5b58\u50a8\u5728\u4ee3\u7406\u7aef\u7684\u7528\u6237\u81ea\u5b9a\u4e49\u53c2\u4e0e\u8005\u914d\u7f6e\u6587\u4ef6\u3002<\/li>\n\n\n\n<li><a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_SYNCT\">UXRCE_DDS_SYNCT<\/a> \uff1a\u6865\u63a5\u65f6\u95f4\u540c\u6b65\u542f\u7528\u3002uXRCE-DDS \u5ba2\u6237\u7aef\u6a21\u5757\u53ef\u4ee5\u540c\u6b65\u901a\u8fc7\u6865\u63a5\u4ea4\u6362\u7684\u6d88\u606f\u7684\u65f6\u95f4\u6233\u3002\u8fd9\u662f\u9ed8\u8ba4\u914d\u7f6e\u3002\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0b\uff0c\u4f8b\u5982\u5728 <a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/user_guide.html#ros-gazebo-and-px4-time-synchronization\">\u6a21\u62df<\/a> \u8fc7\u7a0b\u4e2d\uff0c\u6b64\u529f\u80fd\u53ef\u80fd\u4f1a\u88ab\u7981\u7528\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p>\u4fe1\u606f<\/p>\n\n\n\n<p>\u8bb8\u591a\u7aef\u53e3\u5df2\u5177\u6709\u9ed8\u8ba4\u914d\u7f6e\u3002\u8981\u4f7f\u7528\u8fd9\u4e9b\u7aef\u53e3\uff0c\u60a8\u5fc5\u987b\u5148\u7981\u7528\u73b0\u6709\u914d\u7f6e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>TELEM1<\/code> \u5e76 <code>TELEM2<\/code> \u9ed8\u8ba4\u8bbe\u7f6e\u4e3a\u901a\u8fc7 MAVLink \u5206\u522b\u8fde\u63a5\u5230\u5730\u9762\u7ad9 (GCS) \u548c\u914d\u5957\u8ba1\u7b97\u673a\u3002\u901a\u8fc7\u5c06 <a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#MAV_0_CONFIG\">MAV_0_CONFIG=0<\/a> \u6216 <a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#MAV_1_CONFIG\">MAV_1_CONFIG=0<\/a> \u8bbe\u7f6e\u4e3a\u96f6\u6765\u7981\u7528\u3002\u66f4\u591a\u4fe1\u606f\u8bf7\u53c2\u9605 <a href=\"https:\/\/docs.px4.io\/main\/en\/peripherals\/mavlink_peripherals.html\">MAVLink \u5916\u8bbe\u3002<\/a><\/li>\n\n\n\n<li>\u5176\u4ed6\u7aef\u53e3\u53ef\u7c7b\u4f3c\u914d\u7f6e\u3002\u8bf7\u53c2\u9605 <a href=\"https:\/\/docs.px4.io\/main\/en\/peripherals\/serial_configuration.html#serial-port-configuration\">\u4e32\u53e3\u914d\u7f6e<\/a> \u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8bbe\u7f6e\u5b8c\u6210\u540e\uff0c\u53ef\u80fd\u9700\u8981\u91cd\u542f PX4 \u624d\u80fd\u4f7f\u53c2\u6570\u751f\u6548\u3002\u8fd9\u4e9b\u53c2\u6570\u5728\u540e\u7eed\u91cd\u542f\u540e\u4ecd\u4f1a\u4fdd\u7559\u3002<\/p>\n\n\n\n<p>\u60a8\u4e5f\u53ef\u4ee5\u4f7f\u7528\u547d\u4ee4\u884c\u542f\u52a8 <a href=\"https:\/\/docs.px4.io\/main\/en\/modules\/modules_system.html#uxrce-dds-client\">uxrce_dds_client \u3002\u8fd9\u53ef\u4ee5\u4f5c\u4e3a<\/a> <a href=\"https:\/\/docs.px4.io\/main\/en\/concept\/system_startup.html\">\u7cfb\u7edf\u542f\u52a8<\/a> \u7684\u4e00\u90e8\u5206\u8c03\u7528\uff0c\u4e5f\u53ef\u4ee5\u901a\u8fc7 <a href=\"https:\/\/docs.px4.io\/main\/en\/debug\/mavlink_shell.html\">MAVLink Shell<\/a> \uff08\u6216\u7cfb\u7edf\u63a7\u5236\u53f0\uff09\u8c03\u7528\u3002\u5f53\u60a8\u9700\u8981\u8bbe\u7f6e\u81ea\u5b9a\u4e49\u5ba2\u6237\u7aef\u547d\u540d\u7a7a\u95f4\u65f6\uff0c\u6b64\u65b9\u6cd5\u975e\u5e38\u6709\u7528\uff0c\u56e0\u4e3a\u6ca1\u6709\u4e3a\u6b64\u63d0\u4f9b\u4efb\u4f55\u53c2\u6570\u3002\u4f8b\u5982\uff0c\u4ee5\u4e0b\u547d\u4ee4\u53ef\u7528\u4e8e\u901a\u8fc7\u4ee5\u592a\u7f51\u8fde\u63a5\u5230\u8fdc\u7a0b\u4e3b\u673a \uff0c <code>192.168.0.100:8888<\/code> \u5e76\u5c06\u5ba2\u6237\u7aef\u547d\u540d\u7a7a\u95f4\u8bbe\u7f6e\u4e3a <code>\/drone\/<\/code> \u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>uxrce_dds_client start -t udp -p 8888 -h 192.168.0.100 -n drone<\/code><\/pre>\n\n\n\n<p>\u9009\u9879 <code>-p<\/code> \u6216 <code>-h<\/code> \u7528\u4e8e\u7ed5\u8fc7 <code>UXRCE_DDS_PRT<\/code> \u548c <code>UXRCE_DDS_AG_IP<\/code> \u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">\u5728\u6a21\u62df\u4e2d\u542f\u52a8\u5ba2\u6237\u7aef<\/h5>\n\n\n\n<p>\u6a21\u62df\u5668 <a href=\"https:\/\/docs.px4.io\/main\/en\/concept\/system_startup.html\">\u542f\u52a8\u903b\u8f91<\/a> ( <a href=\"https:\/\/github.com\/PX4\/PX4-Autopilot\/blob\/main\/ROMFS\/px4fmu_common\/init.d-posix\/rcS\">init.d-posix\/rcS<\/a> ) \u4f7f\u7528\u5ba2\u6237\u7aef\u542f\u52a8\u547d\u4ee4\u8fdb\u884c\u5355\u8f66\u548c <a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/multi_vehicle.html\">\u591a\u8f66\u6a21\u62df<\/a> \uff0c\u4ece\u800c\u53ef\u4ee5\u8bbe\u7f6e\u9002\u5f53\u7684\u5b9e\u4f8b ID \u548c DDS \u547d\u540d\u7a7a\u95f4\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u5ba2\u6237\u7aef\u5728 localhost UDP \u7aef\u53e3\u4e0a\u542f\u52a8\uff0c <code>8888<\/code> \u65e0\u9700\u4efb\u4f55\u989d\u5916\u7684\u547d\u540d\u7a7a\u95f4\u3002<\/p>\n\n\n\n<p>\u63d0\u4f9b\u4e86\u8986\u76d6\u67d0\u4e9b <a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#uxrce-dds-client\">UXRCE-DDS \u53c2\u6570\u7684<\/a> \u73af\u5883\u53d8\u91cf\u3002\u8fd9\u4e9b\u53d8\u91cf\u5141\u8bb8\u7528\u6237\u4e3a\u5176\u6a21\u62df\u521b\u5efa\u81ea\u5b9a\u4e49\u542f\u52a8\u6587\u4ef6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>PX4_UXRCE_DDS_NS<\/code> \uff1a\u4f7f\u7528\u6b64\u9879\u6307\u5b9a\u4e3b\u9898 <a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html#customizing-the-namespace\">\u547d\u540d\u7a7a\u95f4<\/a> \uff09\u3002<\/li>\n\n\n\n<li><code>ROS_DOMAIN_ID<\/code> \uff1a\u4f7f\u7528\u5b83\u6765\u66ff\u6362 <a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_DOM_ID\">UXRCE_DDS_DOM_ID<\/a> \u3002<\/li>\n\n\n\n<li><code>PX4_UXRCE_DDS_PORT<\/code> \uff1a\u4f7f\u7528\u5b83\u6765\u66ff\u6362 <a href=\"https:\/\/docs.px4.io\/main\/en\/advanced_config\/parameter_reference.html#UXRCE_DDS_PRT\">UXRCE_DDS_PRT<\/a> \u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4f8b\u5982\uff0c\u4ee5\u4e0b\u547d\u4ee4\u53ef\u7528\u4e8e\u542f\u52a8\u5728 DDS \u57df <code>3<\/code> \u3001\u7aef\u53e3 <code>9999<\/code> \u548c\u4e3b\u9898\u547d\u540d\u7a7a\u95f4\u4e0a\u8fd0\u884c che \u5ba2\u6237\u7aef\u7684 Gazebo \u6a21\u62df <code>drone<\/code> \u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ROS_DOMAIN_ID=3 PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone make px4_sitl gz_x500<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u793a\u4f8b\u6559\u7a0b<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">px4_ros_com<\/h3>\n\n\n\n<p><a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/offboard_control.html\">https:\/\/docs.px4.io\/main\/en\/ros2\/offboard_control.html<\/a> <a href=\"https:\/\/github.com\/PX4\/px4_ros_com.git\">https:\/\/github.com\/PX4\/px4_ros_com.git<\/a><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">uav_command_pub<\/h3>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/docs.amovlab.com\/prometheus-wiki\/#\/src\/PrometheusV3%E5%85%88%E9%A9%B1%E8%80%85\/PrometheusV3_DDS%E9%83%A8%E7%BD%B2\/4.%E8%BF%90%E8%A1%8Cuav_command_pub%E6%8E%A7%E5%88%B6\n<\/div><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">px4-ros2-interface-lib<\/h3>\n\n\n\n<p><a href=\"https:\/\/docs.px4.io\/main\/en\/ros2\/px4_ros2_interface_lib.html\">https:\/\/docs.px4.io\/main\/en\/ros2\/px4_ros2_interface_lib.html<\/a> <a href=\"https:\/\/github.com\/Auterion\/px4-ros2-interface-lib\">https:\/\/github.com\/Auterion\/px4-ros2-interface-lib<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u66f4\u591a\u4fe1\u606f<\/h2>\n\n\n\n<p>\u8bf7\u53c2\u8003PX4\u5b98\u65b9\u6587\u6863 <a href=\"https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html\">https:\/\/docs.px4.io\/main\/en\/middleware\/uxrce_dds.html<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4f7f\u7528\u4e32\u53e3\u8fde\u63a5 \u53c2\u8003 https:\/\/do [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":272,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[1],"tags":[],"class_list":["post-268","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uncategorized"],"jetpack_featured_media_url":"https:\/\/www.utmsys.org\/zh\/wp-content\/uploads\/sites\/2\/2025\/08\/pexels-pixabay-206359.jpg","_links":{"self":[{"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/posts\/268","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/comments?post=268"}],"version-history":[{"count":1,"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/posts\/268\/revisions"}],"predecessor-version":[{"id":273,"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/posts\/268\/revisions\/273"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/media\/272"}],"wp:attachment":[{"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/media?parent=268"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/categories?post=268"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.utmsys.org\/zh\/wp-json\/wp\/v2\/tags?post=268"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}