• Jetson Orin NX 开发指南（9）: MAVROS 的安装与配置

    一、前言

    由于 Jetson 系列开发板常作为自主无人机的机载电脑，而无人机硬件平台如 PX4 和 ArduPilot 等通过 MAVLink 进行发布无人机状态和位姿等信息，要实现机载电脑与 MAVLink 的通信，必须借助 Mavros 功能包，因此，本文主要介绍 Mavros 功能包的安装、配置与使用，主要参考

    GitHub - mavlink/mavros at master

    https://github.com/mavlink/mavros/blob/master/mavros/README.md#installation

    Ubuntu 安装并配置 mavros （USB 连接）_ubuntu安装mavros-CSDN博客

    官方给出了直接安装和源码安装两种方法，由于一般 mavros 安装并配置完成后不会轻易改动，且十分常用，因此比较推荐直接安装方法，本文也只介绍直接安装方法。

    二、Mavros 的安装

    由于 Jetson Orin NX 的 JetPack 5.1.2 对应的是 Ubuntu 20.04，因此我们选择安装 noetic 版本的 mavros 功能包，终端输入

    sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras -y

    此时可以查看 /usr/share/ 下多了一个 GeographicLib 文件夹，其内容是空的，需要我们自己添加进去

    进入 ~/Documents/ 目录，下载脚本文件

    wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh

    然后给下载好的脚本文件添加可执行权限，

    sudo chmod +x ./install_geographiclib_datasets.sh

    运行该脚本下载所需文件

    sudo ./install_geographiclib_datasets.sh

    如果执行报错，就直接去GeographicLib 官网下载（可能要挂梯子。。。）对应的三个包，下载得到三个文件夹：

    1.GeographicLib geoids egm96-5 官网下载链接：

    Download egm96-5.tar.bz2 (GeographicLib)

    2.GeographicLib gravity egm 96官网下载链接

    Download egm96.zip (GeographicLib)

    3.GeographicLib magnetic emm2015 官网下载链接：

    Download emm2015.zip (GeographicLib)

    在 /usr/share/GeographicLib/ 路径下，将上面下载的三个压缩包解压后放在这个文件夹内，如下所示

    至此，mavros 就安装成功了！

    三、Mavrso 的运行

    由于 Jetson Orin NX 与飞控（飞行控制器）一般有两种通信连接方式，一种是通过 USB 连接，另一种是通过串口连接，本节将分别介绍两种连接方式使得 Jetson Orin NX 通过 Mavros 实现与飞控的通信。

    由于时下最新的 Pixhawk 系列飞控为 Pixhawk 6X，因此本文主要介绍 Jetson Orin NX 与 Pixhawk 6X 的通信，其他电脑与飞控的通信方式也是相同的！

    3.1 Jetson Orin NX 与 Pixhawk 6X 实现 USB 通信

    运行 Mavros 之前需要现修改 launch 启动文件

    打开 /opt/ros/noetic/share/mavros/launch/ 路径下的 px4.launch 文件

    可以看到 fcu_url 默认为 /dev/ttyACM0:57600，其中 ttyACM0 表示 USB 连接，57600 表示波特率，这里我们不对这个文件进行修改，而是在当前目录下新建一个

    终端输入

    1. cd /opt/ros/noetic/share/mavros/launch/
    2. sudo touch px4_ACM0.launch

    打开 px4_ACM0.launch 文件，

    sudo gedit px4_ACM0.launch

    将其内容改为

    1. <launch>
    2. 	
    3. 	
    4.  
    5. 	<arg name="fcu_url" default="/dev/ttyACM0:921600" />
    6. 	<arg name="gcs_url" default="" />
    7. 	<arg name="tgt_system" default="1" />
    8. 	<arg name="tgt_component" default="1" />
    9. 	<arg name="log_output" default="screen" />
    10. 	<arg name="fcu_protocol" default="v2.0" />
    11. 	<arg name="respawn_mavros" default="false" />
    12.  
    13. 	<include file="$(find mavros)/launch/node.launch">
    14. 		<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
    15. 		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
    16.  
    17. 		<arg name="fcu_url" value="$(arg fcu_url)" />
    18. 		<arg name="gcs_url" value="$(arg gcs_url)" />
    19. 		<arg name="tgt_system" value="$(arg tgt_system)" />
    20. 		<arg name="tgt_component" value="$(arg tgt_component)" />
    21. 		<arg name="log_output" value="$(arg log_output)" />
    22. 		<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
    23. 		<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
    24. 	include>
    25. launch>

    至此，Mavros 的启动文件就配置完成了！

    然后终端输入

    roslaunch mavros px4_ACM0.launch

    启动 mavros，发现报错

    [FATAL] [1697177878.518260611]: FCU: DeviceError:serial:open: Permission denied

    原因是 /dev/ttyACM0 没有可执行权限，需要先添加可执行权限，终端输入

    sudo chmod 777 /dev/ttyACM0

    然后再次启动 mavros，终端输入

    roslaunch mavros px4_ACM0.launch

    结果显示

    这表示 mavros 成功连接上了飞控！

    此时可以查看 mavros 话题，终端输入

    rostopic list

    打印输出

    1. /diagnostics
    2. /mavlink/from
    3. /mavlink/gcs_ip
    4. /mavlink/to
    5. /mavros/actuator_control
    6. /mavros/adsb/send
    7. /mavros/adsb/vehicle
    8. /mavros/altitude
    9. /mavros/battery
    10. /mavros/cam_imu_sync/cam_imu_stamp
    11. /mavros/camera/image_captured
    12. /mavros/cellular_status/status
    13. /mavros/companion_process/status
    14. /mavros/debug_value/debug
    15. /mavros/debug_value/debug_float_array
    16. /mavros/debug_value/debug_vector
    17. /mavros/debug_value/named_value_float
    18. /mavros/debug_value/named_value_int
    19. /mavros/debug_value/send
    20. /mavros/esc_info
    21. /mavros/esc_status
    22. /mavros/esc_telemetry
    23. /mavros/estimator_status
    24. /mavros/extended_state
    25. /mavros/fake_gps/mocap/tf
    26. /mavros/geofence/waypoints
    27. /mavros/global_position/compass_hdg
    28. /mavros/global_position/global
    29. /mavros/global_position/gp_lp_offset
    30. /mavros/global_position/gp_origin
    31. /mavros/global_position/local
    32. /mavros/global_position/raw/fix
    33. /mavros/global_position/raw/gps_vel
    34. /mavros/global_position/raw/satellites
    35. /mavros/global_position/rel_alt
    36. /mavros/global_position/set_gp_origin
    37. /mavros/gps_input/gps_input
    38. /mavros/gps_rtk/rtk_baseline
    39. /mavros/gps_rtk/send_rtcm
    40. /mavros/gpsstatus/gps1/raw
    41. /mavros/gpsstatus/gps1/rtk
    42. /mavros/gpsstatus/gps2/raw
    43. /mavros/gpsstatus/gps2/rtk
    44. /mavros/hil/actuator_controls
    45. /mavros/hil/controls
    46. /mavros/hil/gps
    47. /mavros/hil/imu_ned
    48. /mavros/hil/optical_flow
    49. /mavros/hil/rc_inputs
    50. /mavros/hil/state
    51. /mavros/home_position/home
    52. /mavros/home_position/set
    53. /mavros/imu/data
    54. /mavros/imu/data_raw
    55. /mavros/imu/diff_pressure
    56. /mavros/imu/mag
    57. /mavros/imu/static_pressure
    58. /mavros/imu/temperature_baro
    59. /mavros/imu/temperature_imu
    60. /mavros/landing_target/lt_marker
    61. /mavros/landing_target/pose
    62. /mavros/landing_target/pose_in
    63. /mavros/local_position/accel
    64. /mavros/local_position/odom
    65. /mavros/local_position/pose
    66. /mavros/local_position/pose_cov
    67. /mavros/local_position/velocity_body
    68. /mavros/local_position/velocity_body_cov
    69. /mavros/local_position/velocity_local
    70. /mavros/log_transfer/raw/log_data
    71. /mavros/log_transfer/raw/log_entry
    72. /mavros/mag_calibration/report
    73. /mavros/mag_calibration/status
    74. /mavros/manual_control/control
    75. /mavros/manual_control/send
    76. /mavros/mission/reached
    77. /mavros/mission/waypoints
    78. /mavros/mocap/pose
    79. /mavros/mount_control/command
    80. /mavros/mount_control/orientation
    81. /mavros/mount_control/status
    82. /mavros/nav_controller_output
    83. /mavros/obstacle/send
    84. /mavros/odometry/in
    85. /mavros/odometry/out
    86. /mavros/onboard_computer/status
    87. /mavros/param/param_value
    88. /mavros/play_tune
    89. /mavros/px4flow/ground_distance
    90. /mavros/px4flow/raw/optical_flow_rad
    91. /mavros/px4flow/raw/send
    92. /mavros/px4flow/temperature
    93. /mavros/radio_status
    94. /mavros/rallypoint/waypoints
    95. /mavros/rc/in
    96. /mavros/rc/out
    97. /mavros/rc/override
    98. /mavros/setpoint_accel/accel
    99. /mavros/setpoint_attitude/cmd_vel
    100. /mavros/setpoint_attitude/thrust
    101. /mavros/setpoint_position/global
    102. /mavros/setpoint_position/global_to_local
    103. /mavros/setpoint_position/local
    104. /mavros/setpoint_raw/attitude
    105. /mavros/setpoint_raw/global
    106. /mavros/setpoint_raw/local
    107. /mavros/setpoint_raw/target_attitude
    108. /mavros/setpoint_raw/target_global
    109. /mavros/setpoint_raw/target_local
    110. /mavros/setpoint_trajectory/desired
    111. /mavros/setpoint_trajectory/local
    112. /mavros/setpoint_velocity/cmd_vel
    113. /mavros/setpoint_velocity/cmd_vel_unstamped
    114. /mavros/state
    115. /mavros/statustext/recv
    116. /mavros/statustext/send
    117. /mavros/target_actuator_control
    118. /mavros/terrain/report
    119. /mavros/time_reference
    120. /mavros/timesync_status
    121. /mavros/trajectory/desired
    122. /mavros/trajectory/generated
    123. /mavros/trajectory/path
    124. /mavros/tunnel/in
    125. /mavros/tunnel/out
    126. /mavros/vfr_hud
    127. /mavros/vision_pose/pose
    128. /mavros/vision_pose/pose_cov
    129. /mavros/vision_speed/speed_twist_cov
    130. /mavros/wind_estimation
    131. /move_base_simple/goal
    132. /rosout
    133. /rosout_agg
    134. /tf
    135. /tf_static

    可以查看 IMU 频率，终端输入

    rostopic hz /mavros/imu/data

    结果显示

    此时 IMU 话题频率为 200 左右，至此 Mavros 就安装完成了！

    3.2 Jetson Orin NX 与 Pixhawk 6X 实现串口通信

    首先查询 Pixhawk 6X 中 TELEM 2 的接口情况，参考

    Pixhawk Mini-Base Ports - Holybro Docs

    我们发现 TELEM 2 端口的 2 号口是信号输出（TX），3 号口是信号输入 （RX），6号口是地线（GND），因此我们只需要这三个接口连到机载电脑（Jetson Orin NX）即可。

    我们需要查询机载电脑的飞控串口（pinout），用于连接飞控，注意到在 Jetson Orin NX 上有 40 个针脚（pinout），Jetson 系列的 PINOUT 主要参考

    NVIDIA Jetson Xavier NX GPIO Header Pinout - JetsonHacks

    但是其目前没有更新 Jetson Orin NX 的 PINOUT 情况，但是实际上其接口情况是与 Jetson Xavier NX 一致的，这里给出 Jetson Xavier NX 的 部分 PINOUT 的接口情况

    我们这里需要的是 6 号串口（GND）、 8 号串口（TX）、10 号串口（RX），它们与飞控的连接方式为 GND —— GND，TX —— RX， RX —— TX，也就是

    Jetson Orin NX 端 6 号串口 ——> Pixhawk 6X 端 TELEM 2 的 6 号端口

    Jetson Orin NX 端 8 号串口 ——> Pixhawk 6X 端 TELEM 2 的 3 号端口

    Jetson Orin NX 端 10 号串口——> Pixhawk 6X 端 TELEM 2 的 2 号端口

    接线对应如下图所示（蓝——蓝，白——白，黑——黑）

    至此接线就完成了，最后在 Jetson Orin NX 端配置 mavros 启动文件即可实现 Jetson Orin NX 与 Pixhawk 6X 通过串口通信。

    在此之前我们先通过下图查看 Jetson Orin NX 的 PINOUT 的 8 号和 10 号接口对应文件为 /dev/ttyTHS0 文件

    因此我们在 /opt/ros/noetic/share/mavros/launch/ 路径下创建一个 px4_THS0.launch 文件，其内容修改为（注意到其 fcu_url 的默认值为 /dev/ttyTHS0:921600，分别对应串口文件和波特率）

    1. <launch>
    2. 	
    3. 	
    4.  
    5. 	<arg name="fcu_url" default="/dev/ttyTHS0:921600" />
    6. 	<arg name="gcs_url" default="" />
    7. 	<arg name="tgt_system" default="1" />
    8. 	<arg name="tgt_component" default="1" />
    9. 	<arg name="log_output" default="screen" />
    10. 	<arg name="fcu_protocol" default="v2.0" />
    11. 	<arg name="respawn_mavros" default="false" />
    12.  
    13. 	<include file="$(find mavros)/launch/node.launch">
    14. 		<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
    15. 		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
    16.  
    17. 		<arg name="fcu_url" value="$(arg fcu_url)" />
    18. 		<arg name="gcs_url" value="$(arg gcs_url)" />
    19. 		<arg name="tgt_system" value="$(arg tgt_system)" />
    20. 		<arg name="tgt_component" value="$(arg tgt_component)" />
    21. 		<arg name="log_output" value="$(arg log_output)" />
    22. 		<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
    23. 		<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
    24. 	include>
    25. launch>

    修改完成后保存，然后将 Jetson Orin NX 与 Pixhawk 6X 通过串口连接，如下图所示

    可以看到此时 Pixhawk 6X 是通过电池供电的（也可以通过 USB 方式供电），并且 Pixhawk 6X 与 Jetson Orin NX 只有 Pixhawk 6X 的 TELEM 2 端口 到 Jetson Orin NX 的 PINOUT 6 号、8 号、10 号接口的接线（并没有 USB 线连接），因此如果在 Jetson Orin NX 上如果能够接收到来自 Pixhawk 6X 的飞控信息，那么通信数据必然是通过串口传输的！

    连接后我们先给 /dev/ttyTHS0 授予可执行权限

    sudo chmod 777 /dev/ttyTHS0

    接下来我们启动 mavros，终端输入

    roslaunch mavros px4_THS0.launch

    结果显示

    这表示 mavros 成功连接上了飞控！

    此时可以查看 mavros 话题，终端输入

    rostopic list

    可以受到如下话题

    1. /diagnostics
    2. /mavlink/from
    3. /mavlink/gcs_ip
    4. /mavlink/to
    5. /mavros/actuator_control
    6. /mavros/adsb/send
    7. /mavros/adsb/vehicle
    8. /mavros/altitude
    9. /mavros/battery
    10. /mavros/cam_imu_sync/cam_imu_stamp
    11. /mavros/camera/image_captured
    12. /mavros/cellular_status/status
    13. /mavros/companion_process/status
    14. /mavros/debug_value/debug
    15. /mavros/debug_value/debug_float_array
    16. /mavros/debug_value/debug_vector
    17. /mavros/debug_value/named_value_float
    18. /mavros/debug_value/named_value_int
    19. /mavros/debug_value/send
    20. /mavros/esc_info
    21. /mavros/esc_status
    22. /mavros/esc_telemetry
    23. /mavros/estimator_status
    24. /mavros/extended_state
    25. /mavros/fake_gps/mocap/tf
    26. /mavros/geofence/waypoints
    27. /mavros/global_position/compass_hdg
    28. /mavros/global_position/global
    29. /mavros/global_position/gp_lp_offset
    30. /mavros/global_position/gp_origin
    31. /mavros/global_position/local
    32. /mavros/global_position/raw/fix
    33. /mavros/global_position/raw/gps_vel
    34. /mavros/global_position/raw/satellites
    35. /mavros/global_position/rel_alt
    36. /mavros/global_position/set_gp_origin
    37. /mavros/gps_input/gps_input
    38. /mavros/gps_rtk/rtk_baseline
    39. /mavros/gps_rtk/send_rtcm
    40. /mavros/gpsstatus/gps1/raw
    41. /mavros/gpsstatus/gps1/rtk
    42. /mavros/gpsstatus/gps2/raw
    43. /mavros/gpsstatus/gps2/rtk
    44. /mavros/hil/actuator_controls
    45. /mavros/hil/controls
    46. /mavros/hil/gps
    47. /mavros/hil/imu_ned
    48. /mavros/hil/optical_flow
    49. /mavros/hil/rc_inputs
    50. /mavros/hil/state
    51. /mavros/home_position/home
    52. /mavros/home_position/set
    53. /mavros/imu/data
    54. /mavros/imu/data_raw
    55. /mavros/imu/diff_pressure
    56. /mavros/imu/mag
    57. /mavros/imu/static_pressure
    58. /mavros/imu/temperature_baro
    59. /mavros/imu/temperature_imu
    60. /mavros/landing_target/lt_marker
    61. /mavros/landing_target/pose
    62. /mavros/landing_target/pose_in
    63. /mavros/local_position/accel
    64. /mavros/local_position/odom
    65. /mavros/local_position/pose
    66. /mavros/local_position/pose_cov
    67. /mavros/local_position/velocity_body
    68. /mavros/local_position/velocity_body_cov
    69. /mavros/local_position/velocity_local
    70. /mavros/log_transfer/raw/log_data
    71. /mavros/log_transfer/raw/log_entry
    72. /mavros/mag_calibration/report
    73. /mavros/mag_calibration/status
    74. /mavros/manual_control/control
    75. /mavros/manual_control/send
    76. /mavros/mission/reached
    77. /mavros/mission/waypoints
    78. /mavros/mocap/pose
    79. /mavros/mount_control/command
    80. /mavros/mount_control/orientation
    81. /mavros/mount_control/status
    82. /mavros/nav_controller_output
    83. /mavros/obstacle/send
    84. /mavros/odometry/in
    85. /mavros/odometry/out
    86. /mavros/onboard_computer/status
    87. /mavros/param/param_value
    88. /mavros/play_tune
    89. /mavros/px4flow/ground_distance
    90. /mavros/px4flow/raw/optical_flow_rad
    91. /mavros/px4flow/raw/send
    92. /mavros/px4flow/temperature
    93. /mavros/radio_status
    94. /mavros/rallypoint/waypoints
    95. /mavros/rc/in
    96. /mavros/rc/out
    97. /mavros/rc/override
    98. /mavros/setpoint_accel/accel
    99. /mavros/setpoint_attitude/cmd_vel
    100. /mavros/setpoint_attitude/thrust
    101. /mavros/setpoint_position/global
    102. /mavros/setpoint_position/global_to_local
    103. /mavros/setpoint_position/local
    104. /mavros/setpoint_raw/attitude
    105. /mavros/setpoint_raw/global
    106. /mavros/setpoint_raw/local
    107. /mavros/setpoint_raw/target_attitude
    108. /mavros/setpoint_raw/target_global
    109. /mavros/setpoint_raw/target_local
    110. /mavros/setpoint_trajectory/desired
    111. /mavros/setpoint_trajectory/local
    112. /mavros/setpoint_velocity/cmd_vel
    113. /mavros/setpoint_velocity/cmd_vel_unstamped
    114. /mavros/state
    115. /mavros/statustext/recv
    116. /mavros/statustext/send
    117. /mavros/target_actuator_control
    118. /mavros/terrain/report
    119. /mavros/time_reference
    120. /mavros/timesync_status
    121. /mavros/trajectory/desired
    122. /mavros/trajectory/generated
    123. /mavros/trajectory/path
    124. /mavros/tunnel/in
    125. /mavros/tunnel/out
    126. /mavros/vfr_hud
    127. /mavros/vision_pose/pose
    128. /mavros/vision_pose/pose_cov
    129. /mavros/vision_speed/speed_twist_cov
    130. /mavros/wind_estimation
    131. /move_base_simple/goal
    132. /rosout
    133. /rosout_agg
    134. /tf
    135. /tf_static

    可以查看 IMU 频率，终端输入

    rostopic hz /mavros/imu/data

    结果显示

    我们IMU 话题频率为 150 左右，这比 USB 连接时数据的接收频率要慢（USB 连接是 IMU 话题频率为 200 HZ 左右），这是正常现象，至此，我们就实现了 Jetson Orin NX 与 Pixhawk 6X 的串口通信！

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  • 原文地址：https://blog.csdn.net/qq_44998513/article/details/133809430