《从零搭建自主无人机》—2——硬件设备搭建及EGOPlanner实现

一、主要参考：

ZJU-FAST-Lab/ego-plannerhttps://github.com/ZJU-FAST-Lab/ego-planner【完结】从0制作自主空中机器人 | 开源 | 浙江大学Fast-Lab_哔哩哔哩_bilibilihttps://www.bilibili.com/video/BV1WZ4y167me/?spm_id_from=333.1387.favlist.content.click&vd_source=cc27dfcb640aa62a70874f5ec72a2143

二、硬件组成：

这里所用硬件设备：

1、OrangePi 5 MAX/ Inter NUC

2、Holybro Pixhawk 6C

3、Intel RealSense D435i Depth Camera

4、格式4s 2300mah 45C

5、HKSRC 2205-2450KV / T-Motor V2306-2400KV

6、HSKRC 45A / Formula 32 bit 45A

7、乾丰 51466 V2三叶五寸桨

=》备选方案：怪象35机架，银燕2004 2000kv，d90三叶桨，微空micoair743飞控，微空50a电调，4s或6s锂电池。

二、依赖源码安装：

1、安装 Fast-Drone-250 项目：

git clone https://github.com/ZJU-FAST-Lab/Fast-Drone-250 # 若无法 clone，可直接下载 ZIP 并解压 cd Fast-Drone-250/

2、realsense驱动安装：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE 

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

sudo apt-get install librealsense2-dkms sudo apt-get install librealsense2-utils sudo apt-get install librealsense2-dev sudo apt-get install librealsense2-dbg

然后运行realsense-viewer进行测试一下

3、安装ceres与glog与ddyanmic-reconfigure

解压 3rd_party.zip 压缩包，进入glog文件夹打开终端

cd glog ./autogen.sh && ./configure && make && sudo make install

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

进入ceres文件夹打开终端：

mkdir build cd build cmake .. sudo make -j4 sudo make install sudo apt-get install ros-noetic-ddynamic-reconfigure

4、编译项目，仿真测试：

cd ~/Fast-Drone-250 catkin_make source devel/setup.bash # 测试运行 roslaunch ego_planner single_run_in_sim.launch 

在Rviz仿真：

三、实测：

分别在树林车库环境实机测试=》

四、总结：

参考：规划框架 | EGO planner 规划算法流程与ROS仿真_egoplanner-ZEEKLOG博客https://blog.ZEEKLOG.net/m0_61750953/article/details/144130349?ops_request_misc=&request_id=&biz_id=102&utm_term=egoplanner&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-144130349.142^v102^control&spm=1018.2226.3001.4187

高飞老师组的px4ctrl理解-ZEEKLOG博客https://blog.ZEEKLOG.net/m0_50633073/article/details/134885408?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522839fe5c3649219f8bd9bb539e7c8fb02%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=839fe5c3649219f8bd9bb539e7c8fb02&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_click~default-2-134885408-null-null.142^v102^control&utm_term=px4ctrl&spm=1018.2226.3001.4187