├── scripts ├── InitUAVParams.m └── buildPX4MsgScript.m ├── .gitignore ├── resources └── project │ ├── rootp.xml │ ├── Project.xml │ ├── uuid-10ff5bbe-1f3d-40fb-af1c-168c38de7298.xml │ ├── 4GAiiefWY6A5YZacbSfiQTNDbk0 │ ├── 7cuJ-n36VhJIG5mSrKQYXQqrS_4d.xml │ ├── 7cuJ-n36VhJIG5mSrKQYXQqrS_4p.xml │ ├── _pknYbAjenJ_UsVyJlJJ6yEZsZ0p.xml │ ├── tWNkvQuIr4KN_l5i-jkwAKZv-jAp.xml │ ├── _pknYbAjenJ_UsVyJlJJ6yEZsZ0d.xml │ └── tWNkvQuIr4KN_l5i-jkwAKZv-jAd.xml │ ├── Abllu374wtDd3IliE-5ZoGpf8mM │ ├── _MCXUodwxypf6VADjNZvvspM_gEd.xml │ ├── _MCXUodwxypf6VADjNZvvspM_gEp.xml │ ├── 2D1o2JbB-6mtI40SE4Prkjr7M5sp.xml │ ├── dI0MSiPBXZpre71aeBB2cYxC8U8p.xml │ ├── lZlyqtenVaiCZH7nKuvMrkym3D4p.xml │ ├── 00LmnvvufhK4udgiW0ogx-yJwNIp.xml │ ├── jXM_mV-_GUmWvycpYShezCEQd_sp.xml │ ├── 2FzazV1Tw76r5Lg2OF5Ge4yKsO8p.xml │ ├── 9Vvk0G63oN0EY0vQg94guLtf3ikp.xml │ ├── 00LmnvvufhK4udgiW0ogx-yJwNId.xml │ ├── 2D1o2JbB-6mtI40SE4Prkjr7M5sd.xml │ ├── 2FzazV1Tw76r5Lg2OF5Ge4yKsO8d.xml │ ├── 9Vvk0G63oN0EY0vQg94guLtf3ikd.xml │ ├── dI0MSiPBXZpre71aeBB2cYxC8U8d.xml │ ├── jXM_mV-_GUmWvycpYShezCEQd_sd.xml │ └── lZlyqtenVaiCZH7nKuvMrkym3D4d.xml │ ├── M8zE4dNzEDVt9oCRA3RLbocAAhY │ ├── tGVsD9sPrYSGFcByJKLZlwg2dMwd.xml │ ├── tGVsD9sPrYSGFcByJKLZlwg2dMwp.xml │ ├── X8TXPeRgXOFjotSx4llCV5Y-ff0p.xml │ ├── hmWnohDkE_drZ8OOITRlWZ4VVvQp.xml │ ├── lBFLnhaxY3c8xzPT4gHRQbDvYI4p.xml │ ├── u-BkghNpHQnY453EU9VvHooaqWQp.xml │ ├── X8TXPeRgXOFjotSx4llCV5Y-ff0d.xml │ ├── hmWnohDkE_drZ8OOITRlWZ4VVvQd.xml │ ├── lBFLnhaxY3c8xzPT4gHRQbDvYI4d.xml │ └── u-BkghNpHQnY453EU9VvHooaqWQd.xml │ ├── aPSZTDXRjCsxkLD0Rd1_fiBDTLQ │ ├── M8zE4dNzEDVt9oCRA3RLbocAAhYd.xml │ ├── dCH3sRzeKdhf0RKOhtZCvQWzhW0d.xml │ ├── dCH3sRzeKdhf0RKOhtZCvQWzhW0p.xml │ ├── PMXOabX2RhXMOMaKa-IEvzNKMMkp.xml │ ├── M8zE4dNzEDVt9oCRA3RLbocAAhYp.xml │ ├── JF8yU5Ck1iAr8tF3UsBcMsrQ6Bkp.xml │ ├── p_QNXyGEM19GUy5BHXEAJj3ijO8p.xml │ ├── JF8yU5Ck1iAr8tF3UsBcMsrQ6Bkd.xml │ ├── PMXOabX2RhXMOMaKa-IEvzNKMMkd.xml │ └── p_QNXyGEM19GUy5BHXEAJj3ijO8d.xml │ ├── nr9m9FvqI1-zs4LVQhNz-8RrabA │ ├── 1DdDOng10tsj4Q7WXP3QGkpRls0d.xml │ ├── fcTf8yKTf6Sgyn4BYTpNJtSFDdYd.xml │ ├── hYz3jSbUwAP-4sbDqkozTYdfjX8d.xml │ ├── fcTf8yKTf6Sgyn4BYTpNJtSFDdYp.xml │ ├── 1DdDOng10tsj4Q7WXP3QGkpRls0p.xml │ └── hYz3jSbUwAP-4sbDqkozTYdfjX8p.xml │ ├── qaw0eS1zuuY1ar9TdPn1GMfrjbQ │ ├── 4GAiiefWY6A5YZacbSfiQTNDbk0d.xml │ ├── Abllu374wtDd3IliE-5ZoGpf8mMd.xml │ ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUd.xml │ ├── TMK4UzWHdRLhy_w-CHt9y11Q8XAd.xml │ ├── aPSZTDXRjCsxkLD0Rd1_fiBDTLQd.xml │ ├── nr9m9FvqI1-zs4LVQhNz-8RrabAd.xml │ ├── qD-kr16wmwlzR-nIg1IG_vvRrWkd.xml │ ├── aPSZTDXRjCsxkLD0Rd1_fiBDTLQp.xml │ ├── nr9m9FvqI1-zs4LVQhNz-8RrabAp.xml │ ├── 4GAiiefWY6A5YZacbSfiQTNDbk0p.xml │ ├── Abllu374wtDd3IliE-5ZoGpf8mMp.xml │ ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUp.xml │ ├── TMK4UzWHdRLhy_w-CHt9y11Q8XAp.xml │ └── qD-kr16wmwlzR-nIg1IG_vvRrWkp.xml │ ├── root │ ├── qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml │ ├── 6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml │ ├── EEtUlUb-dLAdf0KpMVivaUlztwAp.xml │ ├── GiiBklLgTxteCEmomM8RCvWT0nQp.xml │ ├── KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml │ ├── NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml │ ├── WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml │ ├── fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml │ ├── GiiBklLgTxteCEmomM8RCvWT0nQd.xml │ ├── W1eD2F85jUZK1DJhjzKdaV-n984p.xml │ └── 6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml │ ├── 6xhH2l9GP9loT6TdFn_Mo65sDHg │ ├── P8PSrqcBHMbGhqD2r1d9oc0h3TUd.xml │ └── P8PSrqcBHMbGhqD2r1d9oc0h3TUp.xml │ ├── W1eD2F85jUZK1DJhjzKdaV-n984 │ ├── PpNIiZUbcImBg_ZScRcZJbgRVtId.xml │ └── PpNIiZUbcImBg_ZScRcZJbgRVtIp.xml │ ├── EEtUlUb-dLAdf0KpMVivaUlztwA │ ├── BdKseSG8uE11hLdXhBztuOiSF8Ed.xml │ ├── l8FSm5Vr06QFvvBDITCbIIOocfkd.xml │ ├── GaKm4NcbjQHQ_NVFVimFnmF9Pykd.xml │ ├── EGbm8rtQrc--sJa0R0eGLzSWixwd.xml │ ├── BdKseSG8uE11hLdXhBztuOiSF8Ep.xml │ ├── EGbm8rtQrc--sJa0R0eGLzSWixwp.xml │ ├── GaKm4NcbjQHQ_NVFVimFnmF9Pykp.xml │ └── l8FSm5Vr06QFvvBDITCbIIOocfkp.xml │ ├── NjSPEMsIuLUyIpr2u1Js5bVPsOs │ ├── 2kj09UetkV_lru3gvSPXnY6-nM4p.xml │ ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8p.xml │ ├── R1RggVhA72agIvELiuhWPRS8F0Id.xml │ ├── R1RggVhA72agIvELiuhWPRS8F0Ip.xml │ ├── 2kj09UetkV_lru3gvSPXnY6-nM4d.xml │ ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8d.xml │ ├── QWNDYJD5mGW1bWYvPx9DtKnxzw4d.xml │ ├── aEHSZBIY-yve10yGis12Zr5DLZod.xml │ ├── aEHSZBIY-yve10yGis12Zr5DLZop.xml │ ├── j4xwF_j8iFTVayUMfxLgMnTbencd.xml │ ├── j4xwF_j8iFTVayUMfxLgMnTbencp.xml │ ├── r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml │ ├── r8LR4nLmg9ai3oHrW1r_-KocQzkp.xml │ └── QWNDYJD5mGW1bWYvPx9DtKnxzw4p.xml │ ├── WZRuNzqc-Db7NcQAZO8Y-R8U9cc │ ├── 66WgGCcF5RIH9MCEgPmgjZK9k3Ud.xml │ ├── AtMjXDrOSm8YDv3_4UFXiyrWqNEd.xml │ ├── 66WgGCcF5RIH9MCEgPmgjZK9k3Up.xml │ └── AtMjXDrOSm8YDv3_4UFXiyrWqNEp.xml │ ├── fjRQtWiSIy7hIlj-Kmk87M7s21k │ ├── NjSPEMsIuLUyIpr2u1Js5bVPsOsp.xml │ └── NjSPEMsIuLUyIpr2u1Js5bVPsOsd.xml │ └── KAXfQgCar2Yb8zOxgvf9hdmLP1E │ ├── KIVwnYf7-dnNy3AbdJhCN4bdTR0p.xml │ ├── TO6WE3qnShlC1OlJQaAGVH5S3K8p.xml │ ├── eZQnvAzW5ImhZGXVBeWmZp_1Ebgp.xml │ ├── ns7WqIc-o3fE1glFgnANwniHUw0p.xml │ ├── toEbJXj-ZBwWb_StL3tv8KwOE04p.xml │ ├── ns7WqIc-o3fE1glFgnANwniHUw0d.xml │ ├── KIVwnYf7-dnNy3AbdJhCN4bdTR0d.xml │ ├── toEbJXj-ZBwWb_StL3tv8KwOE04d.xml │ ├── TO6WE3qnShlC1OlJQaAGVH5S3K8d.xml │ └── eZQnvAzW5ImhZGXVBeWmZp_1Ebgd.xml ├── others ├── px4_msgs.zip └── start-px4-sitl-rtps-ros2-gazebo.sh ├── models ├── NO1_ArmQuadcopter.slx ├── NO4_Multi_UAV_Trajectory │ ├── offboard.slx │ ├── iris_0_controller.slx │ ├── iris_1_controller.slx │ └── iris_2_controller.slx ├── NO2_Multi_QuadcopterOffboard_Takeoff.slx └── NO3_Multi_QuadcopterOffboard_Actuator.slx ├── utilities ├── buildPX4Msg.m ├── InitializeVars.m ├── launchArmQuadcopterModel.m ├── launchMulti_QuadcopterOffboard_TakeoffModel.m ├── launchMulti_QuadcopterOffboard_ActuatorModel.m ├── clean_up_project.m └── set_up_project.m ├── Simulink_PX4_with_ROS2_Tutorial.prj ├── .gitattributes └── README.md /scripts/InitUAVParams.m: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # List of untracked files to ignore 2 | -------------------------------------------------------------------------------- /scripts/buildPX4MsgScript.m: -------------------------------------------------------------------------------- 1 | unzip("px4_msgs.zip") 2 | ros2genmsg("custom") -------------------------------------------------------------------------------- /resources/project/rootp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Project.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/uuid-10ff5bbe-1f3d-40fb-af1c-168c38de7298.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /others/px4_msgs.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LiuWhale/Simulink_PX4_with_ROS2_Tutorial/HEAD/others/px4_msgs.zip -------------------------------------------------------------------------------- /resources/project/4GAiiefWY6A5YZacbSfiQTNDbk0/7cuJ-n36VhJIG5mSrKQYXQqrS_4d.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Abllu374wtDd3IliE-5ZoGpf8mM/_MCXUodwxypf6VADjNZvvspM_gEd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/M8zE4dNzEDVt9oCRA3RLbocAAhY/tGVsD9sPrYSGFcByJKLZlwg2dMwd.xml: 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2 | -------------------------------------------------------------------------------- /resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/qD-kr16wmwlzR-nIg1IG_vvRrWkd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /models/NO1_ArmQuadcopter.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LiuWhale/Simulink_PX4_with_ROS2_Tutorial/HEAD/models/NO1_ArmQuadcopter.slx -------------------------------------------------------------------------------- /resources/project/root/qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /utilities/buildPX4Msg.m: -------------------------------------------------------------------------------- 1 | %% Initialize PX4 Msgs 2 | function buildPX4Msg 3 | evalin('base', 'buildPX4MsgScript;'); 4 | end 5 | 6 | -------------------------------------------------------------------------------- /resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/P8PSrqcBHMbGhqD2r1d9oc0h3TUd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/W1eD2F85jUZK1DJhjzKdaV-n984/PpNIiZUbcImBg_ZScRcZJbgRVtId.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/EEtUlUb-dLAdf0KpMVivaUlztwAp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/root/W1eD2F85jUZK1DJhjzKdaV-n984p.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /utilities/InitializeVars.m: -------------------------------------------------------------------------------- 1 | %% Initialize Project variables 2 | 3 | % Copyright 2021 The MathWorks, Inc. 4 | evalin('base', 'InitUAVParams;'); 5 | 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-------------------------------------------------------------------------------- 1 | function launchArmQuadcopterModel 2 | % 3 | 4 | % Copyright 2021 The MathWorks, Inc. 5 | 6 | project = simulinkproject; 7 | projectRoot = project.RootFolder; 8 | open_system(fullfile(projectRoot,'models','NO1_ArmQuadcopter.slx')); 9 | end 10 | -------------------------------------------------------------------------------- /resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/TO6WE3qnShlC1OlJQaAGVH5S3K8d.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/eZQnvAzW5ImhZGXVBeWmZp_1Ebgd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /utilities/launchMulti_QuadcopterOffboard_TakeoffModel.m: -------------------------------------------------------------------------------- 1 | function launchMulti_QuadcopterOffboard_TakeoffModel 2 | % 3 | 4 | % Copyright 2021 The MathWorks, Inc. 5 | 6 | project = simulinkproject; 7 | projectRoot = project.RootFolder; 8 | open_system(fullfile(projectRoot,'models','NO2_Multi_QuadcopterOffboard_Takeoff.slx')); 9 | end 10 | -------------------------------------------------------------------------------- /utilities/launchMulti_QuadcopterOffboard_ActuatorModel.m: -------------------------------------------------------------------------------- 1 | function launchMulti_QuadcopterOffboard_ActuatorModel 2 | % 3 | 4 | % Copyright 2021 The MathWorks, Inc. 5 | 6 | project = simulinkproject; 7 | projectRoot = project.RootFolder; 8 | open_system(fullfile(projectRoot,'models','NO3_Multi_QuadcopterOffboard_Actuator.slx')); 9 | end 10 | -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- 1 | *.fig binary 2 | *.mat binary 3 | *.mdl binary diff merge=mlAutoMerge 4 | *.mdlp binary 5 | *.mexa64 binary 6 | *.mexw64 binary 7 | *.mexmaci64 binary 8 | *.mlapp binary 9 | *.mldatx binary 10 | *.mlproj binary 11 | *.mlx binary 12 | *.p binary 13 | *.sfx binary 14 | *.sldd binary 15 | *.slreqx binary merge=mlAutoMerge 16 | *.slmx binary merge=mlAutoMerge 17 | *.sltx binary 18 | *.slxc binary 19 | *.slx binary merge=mlAutoMerge 20 | *.slxp binary 21 | 22 | ## Other common binary file types 23 | *.docx binary 24 | *.exe binary 25 | *.jpg binary 26 | *.pdf binary 27 | *.png binary 28 | *.xlsx binary 29 | -------------------------------------------------------------------------------- /utilities/clean_up_project.m: -------------------------------------------------------------------------------- 1 | function clean_up_project() 2 | %clean_up_project Clean up local customizations of the task 3 | % 4 | % Clean up the task for the current project. This function undoes 5 | % the settings applied in "set_up_project". It is set to Run at Shutdown. 6 | 7 | % Copyright 2020-2021 The MathWorks, Inc. 8 | 9 | %% Clean up only project created Variables 10 | 11 | if evalin('base','exist(''setupAndUserVars'')') && evalin('base','exist(''userVars'')') 12 | %setupVars will contain only the variables created by the project and 13 | %not the ones in base workspace which already existed before the 14 | %project was opened 15 | evalin('base', 'setupVars = setupAndUserVars(~cellfun(@(y) any(cellfun(@(x) isequal(x,y),userVars)),setupAndUserVars));') 16 | for i=1: evalin('base','length(setupVars)') 17 | evalin('base', ['clear(setupVars{' num2str(i) '});']) 18 | end 19 | end 20 | 21 | evalin('base', 'clear setupVars setupAndUserVars userVars'); 22 | Simulink.fileGenControl('reset'); 23 | -------------------------------------------------------------------------------- /utilities/set_up_project.m: -------------------------------------------------------------------------------- 1 | function set_up_project() 2 | %set_up_project: Configure the task for this project 3 | % 4 | % Set up the task for the current project. This function is set to 5 | % Run at Startup. 6 | 7 | % Copyright 2020-2021 The MathWorks, Inc. 8 | 9 | %% Store user created variables for cleanup upon exit 10 | evalin('base', 'userVars = who;'); 11 | 12 | %% Initialize Project variables 13 | 14 | evalin('base', 'InitUAVParams;'); 15 | 16 | %% Set up work folders 17 | project = simulinkproject; 18 | projectRoot = project.RootFolder; 19 | 20 | %% Store project created variables for cleanup upon exit 21 | evalin('base', 'setupAndUserVars = who;'); 22 | 23 | myCacheFolder = fullfile(projectRoot, 'work','cache'); 24 | myCodeFolder = fullfile(projectRoot,'work','code'); 25 | 26 | Simulink.fileGenControl('set',... 27 | 'CacheFolder', myCacheFolder,... 28 | 'CodeGenFolder', myCodeFolder,... 29 | 'createDir', true) 30 | end 31 | -------------------------------------------------------------------------------- /others/start-px4-sitl-rtps-ros2-gazebo.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | export ROS_VERSION=2 4 | export ROS_DISTRO=foxy 5 | export PX4AUTOPILOTHOME=/home/user/PX4-Autopilot 6 | 7 | # Set the plugin path so Gazebo finds our model and sim 8 | export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$PX4AUTOPILOTHOME/build 9 | # Set the model path so Gazebo finds the airframes 10 | export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$PX4AUTOPILOTHOME/Tools/sitl_gazebo/models 11 | # Disable online model lookup since this is quite experimental and unstable 12 | export GAZEBO_MODEL_DATABASE_URI="" 13 | # Set path to sitl_gazebo repository 14 | export SITL_GAZEBO_PATH=$PX4AUTOPILOTHOME/Tools/sitl_gazebo 15 | 16 | # Launch Gazebo simulation with PX4 RTPS client 17 | gnome-terminal --title="PX4 SITL RTPS Gazebo" -- /bin/bash -c 'source ~/px4_ros_com_ros2/install/setup.bash; cd $PX4AUTOPILOTHOME; make px4_sitl_rtps gazebo_iris' 18 | #./Tools/gazebo_sitl_multiple_run.sh -t px4_sitl_rtps -m iris -w empty -l rtps -n 3 19 | #make px4_sitl_rtps gazebo_iris 20 | 21 | sleep 12 22 | 23 | gnome-terminal --title="microRTPS Agents" -- /bin/bash -c 'source ~/px4_ros_com_ros2/install/setup.bash; micrortps_agent -t UDP' 24 | # -r 2020 -s 2019 -n iris_0 & micrortps_agent -t UDP -r 2022 -s 2021 -n iris_1 & micrortps_agent -t UDP -r 2024 -s 2023 -n iris_2' 25 | 26 | 27 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # README 2 | Videos: 3 | - [基于Simulink的ROS2下PX4无人机控制框架-入门篇](https://www.bilibili.com/video/BV1gF411T7st?share_source=copy_web) 4 | >使用方法：使用Matlab打开工程所在目录，双击.prj文件打开工程，先将px4_msgs编译出。 5 | 6 | - MATLAB : 9.12.0.1884302 (R2022a) 7 | - 操作系统: Microsoft Windows 11 专业版 Version 10.0 (Build 22000) 8 | Java 版本: Java 1.8.0_202-b08 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode 9 | - Python: 3.9 [Python下载地址](https://www.python.org/downloads/) 10 | - CMake: 3.16.3+ [CMake下载地址](https://cmake.org/download/) 11 | - C++ Compiler: Visual Studio 2019 [VS2019下载地址](https://my.visualstudio.com/Downloads?q=visual%20studio%202019&wt.mc_id=o~msft~vscom~older-downloads) 12 | - ROS2: Foxy 13 | 14 | - Ubuntu ：20.04 LTS (VM) 15 | - 百度网盘链接:https://pan.baidu.com/s/1jokF9LrOYgt5PmvIFKBi5w  提取码：yyds 16 | - 用户名: user 17 | - 密码: password 18 | ------------------------------------------------------------------------------------------------ 19 | name|version|Matlab 20 | ---|:--:|---: 21 | MATLAB | 9.12 |(R2022a) 22 | Simulink | 10.5 |(R2022a) 23 | Aerospace Blockset | 5.2 |(R2022a) 24 | Aerospace Toolbox | 4.2 |(R2022a) 25 | Control System Toolbox | 10.11.1 |(R2022a) 26 | Embedded Coder | 7.8 |(R2022a) 27 | MATLAB Coder | 5.4 |(R2022a) 28 | MATLAB Compiler | 8.4 |(R2022a) 29 | MATLAB Compiler SDK | 7.0 |(R2022a) 30 | MATLAB Report Generator | 5.12 |(R2022a) 31 | Navigation Toolbox | 2.2 |(R2022a) 32 | Optimization Toolbox | 9.3 |(R2022a) 33 | ROS Toolbox | 1.5 |(R2022a) 34 | Robotics System Toolbox | 4.0 |(R2022a) 35 | Simscape | 5.3 |(R2022a) 36 | Simulink 3D Animation | 9.4 |(R2022a) 37 | Simulink Check | 6.0 |(R2022a) 38 | Simulink Code Inspector | 4.1 |(R2022a) 39 | Simulink Coder | 9.7 |(R2022a) 40 | Simulink Compiler | 1.4 |(R2022a) 41 | Simulink Control Design | 6.1 |(R2022a) 42 | Simulink Coverage | 5.4 |(R2022a) 43 | Simulink Design Optimization | 3.11 |(R2022a) 44 | Simulink Design Verifier | 4.7 |(R2022a) 45 | Simulink Desktop Real-Time | 5.14 |(R2022a) 46 | Simulink Real-Time | 8.0 |(R2022a) 47 | Simulink Report Generator | 5.12 |(R2022a) 48 | Simulink Test | 3.6 |(R2022a) 49 | Stateflow | 10.6 |(R2022a) 50 | System Composer | 2.2 |(R2022a) 51 | UAV Toolbox | 1.3 |(R2022a) 52 | Vehicle Dynamics Blockset | 1.8 |(R2022a) 53 | --------------------------------------------------------------------------------