Gazebo 中基于PX4无人机对特定物体进行识别并撞击或穿越(例如气球、门框)的仿真程序。
The simulation programme based on Gazebo and PX4 to fly across or crash object.
![result](https://private-user-images.githubusercontent.com/66028151/276522481-386dda38-4502-4a04-9297-63c2003000fe.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQ1MzUyMjcsIm5iZiI6MTcyNDUzNDkyNywicGF0aCI6Ii82NjAyODE1MS8yNzY1MjI0ODEtMzg2ZGRhMzgtNDUwMi00YTA0LTkyOTctNjNjMjAwMzAwMGZlLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MjQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODI0VDIxMjg0N1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWFjYTYzOTRiYmE0NjkzNmJkYWU5NmEyMmNmNTc2Nzk3ZTFjZWQ5MmEzNDI3NWNkY2YxN2M3YTIyMGZkZmZmYTYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.2o5rJqVMvufCGiLkXo_I8Es6wgvKm9To0B-F4YA-DLI)
![result](https://private-user-images.githubusercontent.com/66028151/277307326-eea777ad-4298-4943-95e2-80a2e15fcfae.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQ1MzUyMjcsIm5iZiI6MTcyNDUzNDkyNywicGF0aCI6Ii82NjAyODE1MS8yNzczMDczMjYtZWVhNzc3YWQtNDI5OC00OTQzLTk1ZTItODBhMmUxNWZjZmFlLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MjQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODI0VDIxMjg0N1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWQxMTY1MTA5YzM1ZjM1N2VlNDBhYjQzMzg5YzM0NTJhNzBkMzE5YWJjYmRlMTc4YTNkMDVmZDc5N2M3OGNhMDImWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.FM8m6Tol8LgnmxjKlhhF_Jl-J4afo3ECSPQQpiNEVPM)
ROS 包:px4_cmd
mkdir ~/catkin_ws && cd ~/catkin_ws && \
mkdir src && cd src && \
git clone https://github.com/Lovely-XPP/Detect_Object.git && \
cd .. && catkin_make
source ~/catkin_ws/setup.bash
bash $(rospack find detect_object)/sh/sim_balloon.sh
source ~/catkin_ws/setup.bash
bash $(rospack find detect_object)/sh/sim_doorframe.sh