# joseph_egoplanner

**Repository Path**: Joseph096/joseph_egoplanner

## Basic Information

- **Project Name**: joseph_egoplanner
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-01-11
- **Last Updated**: 2026-01-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 指点飞行
## CmakeList.txt的使用逻辑
Cmakelist可以将多个不同语言的代码共同编译形成一个可执行文件

# egoplanner

## 仿真环境控制实现

示例
```bash
gnome-terminal --tab --title="PX4_Frame" -- bash -c "cd ../PX4_Firmware; PX4_SIM_SPEED_FACTOR=1 roslaunch px4 zhihang2024.launch"
```    

打开PX4，,QGC,启动 mavros 节点，并通过 UDP 方式，把 MAVROS 连接到 PX4 飞控（或仿真器），将airsim连接到ros

```bash
# 打开PX4
cd /PX4-Autopilot/
make px4_sitl_default none_iris

#启动mavros通信机制
roslaunch mavros px4.launch fcu_url:="udp://:14030@172.23.64.1:14280"
#启动airsim与ros的通信

source /home/joseph/AirSim/ros/devel/setup.bash
roslaunch airsim_ros_pkgs airsim_node.launch output:=screen host:=172.30.176.1

source ego-planner/devel/setup.bash
roslaunch ego_planner rviz.launch

source ego-planner/devel/setup.bash
roslaunch ego_planner run_in_airsim.launch


```