offbord模式测试

rosrun offboard_pkg position 

stablelize模式

lqr控制器实验

roslaunch px4 fast_test.launch 

无人机起飞1.5-2m

sh mybot_gazebo.sh#roslaunch px4 fast_racing.launch & sleep 20;
roslaunch ego_planner single_run_in_gazebo.launch & sleep 10;
roslaunch px4ctrl run_node.launch & sleep 10;
rosrun rqt_reconfigure rqt_reconfigure & sleep 10;
roslaunch ego_planner rviz.launch

先点击mode，再点击cmd，才能打开offbord模式

minijerk实验

roslaunch px4 fast_test.launch sh  fast_track.sh
bash trach.bash

roslaunch kr_mav_launch track_circle.launch & sleep 5;
roslaunch px4ctrl run_node.launch & sleep 5;
rosrun rqt_reconfigure rqt_reconfigure 

#!/bin/bashif [ $# -eq 0 ]; thenecho "Ready to Fly, Please Away From it "#exit 1
firead -p "Press [Enter] to go to [3.5, 0, 2]"
rosservice call /mav_services/goTo "goal: [3.5, 0.0, 2, 0.0]"
sleep 1read -p "Press [Enter] to circle track {Ax: 3, Ay: 3, T: 9.0, duration: 12.0}"
rosservice call /mav_services/circle "{Ax: 3, Ay: 3, T: 9.0, duration: 12.0}" 
sleep 1