fix：新增例程

2025-07-25 17:04:14 +08:00
parent 891627bc06
commit 78481c265e
27 changed files with 980 additions and 0 deletions
--- a/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_pix.docx
+++ b/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_pix.docx
--- a/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_pix.pdf
+++ b/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_pix.pdf
--- a/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_rac.docx
+++ b/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_rac.docx
--- a/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_rac.pdf
+++ b/基础编程/e10.基于MAVSDK的无人机控制实验/Readme_rac.pdf
--- a/基础编程/e10.基于MAVSDK的无人机控制实验/code/Python38Run.bat
+++ b/基础编程/e10.基于MAVSDK的无人机控制实验/code/Python38Run.bat
@@ -0,0 +1,5 @@
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+start cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put Python38Run.bat into your code folder && echo Use the command: 'python XXX.py' to run the script with Python && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%CD%;%PATH%"
--- a/基础编程/e10.基于MAVSDK的无人机控制实验/code/offboard_position_ned.py
+++ b/基础编程/e10.基于MAVSDK的无人机控制实验/code/offboard_position_ned.py
@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+"""
+Caveat when attempting to run the examples in non-gps environments:
+
+`drone.offboard.stop()` will return a `COMMAND_DENIED` result because it
+requires a mode switch to HOLD, something that is currently not supported in a
+non-gps environment.
+"""
+
+import asyncio
+
+from mavsdk import System
+from mavsdk.offboard import (OffboardError, PositionNedYaw)
+import ReqCopterSim
+import time
+
+# mavsdk-python的使用方法见：https://mavsdk.mavlink.io/main/en/python/quickstart.html
+# 本平台使用1.2.0版本的mavsdk，因为更高版本无法直接用Python启动，还需运行server
+# 接口文档见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/
+
+async def run():
+    """ Does Offboard control using position NED coordinates. """
+
+    
+    # 创建一个CopterSim状态获取实例，并监听2s钟，获取当前所有CopterSim列表数据
+    req = ReqCopterSim.ReqCopterSim()
+
+    # 下面展示，如何使用本接口，不需要知道目标电脑IP的情况下，能够连上远程电脑的CopterSim
+    CopterID=1  # 计划仿真的飞机ID
+    TargetPort = 20100 + CopterID*2 -1 # 对应CopterSim的发送端口
+
+    # 获取CopterSim所在电脑的IP地址
+    TargetIP = req.getSimIpID(CopterID)
+    print('Target IP is: ',TargetIP)
+
+    # 请求CopterSim将UDP模式转换为MAVLink_Full，便于本例程的Mavlink控制
+    req.sendReSimUdpMode(CopterID,UDP_mode=2)
+
+    # 向CopterSim发送请求，发送MAVLink数据到本电脑
+    req.sendReSimIP(CopterID)
+
+    time.sleep(2)
+
+    print('开始连接Mavsdk')
+
+    # 下面开始用mavsdk来控制飞机
+    drone = System() # 创建一个mavsdk实例
+
+    # 等待连接上飞控，这里指定任意IP和20100系列端口，类似udp://0.0.0.0:20101
+    await drone.connect(system_address="udp://:"+str(TargetPort))
+
+
+    print("Waiting for drone to connect...")
+    # 等待完全确认连接
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"-- Connected to drone!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    # 等待获取健康状态，这里通过查询telemray收集到的数据，请阅读如下文档了解telemray下有哪些数据
+    # http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/telemetry.html
+    async for health in drone.telemetry.health():
+        # health()函数见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/telemetry.html#mavsdk.telemetry.Telemetry.health
+        if health.is_global_position_ok and health.is_home_position_ok:
+            # health的数据定义见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/telemetry.html#mavsdk.telemetry.Health
+            # 查询得到：is_local_position_ok (bool) – True if the local position estimate is good enough to fly in ‘position control’ mode
+            print("-- Global position estimate OK")
+            break
+
+    print("-- Arming")
+    # 等待解锁飞控
+    # 见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/action.html
+    await drone.action.arm()
+
+    print("-- Setting initial setpoint")
+    # http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/offboard.html
+    # http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/offboard.html#mavsdk.offboard.Offboard.set_position_ned
+    await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, 0.0, 0.0))
+
+    print("-- Starting offboard")
+    try:
+        await drone.offboard.start()
+    except OffboardError as error:
+        print(f"Starting offboard mode failed \
+                with error code: {error._result.result}")
+        print("-- Disarming")
+        await drone.action.disarm()
+        return
+
+    print("-- Go 0m North, 0m East, -5m Down \
+            within local coordinate system")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(0.0, 0.0, -5.0, 0.0))
+    await asyncio.sleep(10)
+
+    print("-- Go 5m North, 0m East, -5m Down \
+            within local coordinate system, turn to face East")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(5.0, 0.0, -5.0, 90.0))
+    await asyncio.sleep(10)
+
+    print("-- Go 5m North, 10m East, -5m Down \
+            within local coordinate system")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(5.0, 10.0, -5.0, 90.0))
+    await asyncio.sleep(15)
+
+    print("-- Go 0m North, 10m East, 0m Down \
+            within local coordinate system, turn to face South")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(0.0, 10.0, 0.0, 180.0))
+    await asyncio.sleep(10)
+
+    print("-- Stopping offboard")
+    try:
+        await drone.offboard.stop()
+    except OffboardError as error:
+        print(f"Stopping offboard mode failed \
+                with error code: {error._result.result}")
+
+
+if __name__ == "__main__":
+    # Run the asyncio loop
+    asyncio.run(run())
--- a/基础编程/e11.基于MAVROS的无人机控制实验/Readme.docx
+++ b/基础编程/e11.基于MAVROS的无人机控制实验/Readme.docx
--- a/基础编程/e11.基于MAVROS的无人机控制实验/Readme.pdf
+++ b/基础编程/e11.基于MAVROS的无人机控制实验/Readme.pdf
--- a/基础编程/e11.基于MAVROS的无人机控制实验/code/Ros12OneUav.py
+++ b/基础编程/e11.基于MAVROS的无人机控制实验/code/Ros12OneUav.py
@@ -0,0 +1,41 @@
+import PX4MavCtrlV4ROS as PX4MavCtrl
+import time
+
+
+# 创建一个ROS控制实例，针对飞机1
+mav = PX4MavCtrl.PX4MavCtrler(CopterID=1)
+time.sleep(1)
+
+print('进入offboard并解锁')
+mav.initOffboard()
+time.sleep(1)
+
+
+# 飞机起飞到0.1米前，0.8米高
+print('发送起飞命令')
+mav.SendPosNED(0.1,0,-0.8)
+time.sleep(10)
+
+print('PosE',mav.uavPosNED)
+print('VelE',mav.uavVelNED)
+print('Euler',mav.uavAngEular)
+print('Quaternion',mav.uavAngQuatern)
+print('Rate',mav.uavAngRate)
+
+time.sleep(1)
+print('Start control.')
+
+# 下面开始你的控制算法
+# mav.SendPosNED(x,y,z,yaw) 发送期望位置点，NED地球坐标系
+# mav.SendVelNED(vx,vy,vz,yawrate) 发送速度，NED地球坐标系
+# mav.SendVelFRD(vx,vy,vz,yawrate) 发送速度，FRD机体坐标系，通常而言，设定vx和yawrate即可，前进速度和偏航速度。
+# mav.SendPosVelNED(PosE=[0,0,0],VelE=[0,0,0],yaw,yawrate) 同时控制飞机位置和速度
+
+
+# 下面仅展示使用SendVelFRD控制的例子，会撞墙，为正常现象
+
+print('开始速度控制')
+
+# 向前0.1m/s飞，并缓慢调转方向
+mav.SendVelFRD(0.1,0,0,0.05)
+
--- a/基础编程/e11.基于MAVROS的无人机控制实验/code/RosSwitch.bat
+++ b/基础编程/e11.基于MAVROS的无人机控制实验/code/RosSwitch.bat
@@ -0,0 +1,16 @@
+@echo off
+wsl -d RflySim-20.04 -e bash -lic "echo Current version is ROS$ROS_VERSION"
+
+SET /P ROSVer=New ROS Version 1 or 2:
+if %ROSVer% EQU 1 (
+    ECHO Switch to ROS1
+    wsl -d RflySim-20.04 ~/ros_switch.sh 1
+
+) ELSE (
+    ECHO Switch to ROS2  
+    wsl -d RflySim-20.04 ~/ros_switch.sh 2
+)
+wsl --shutdown
+ECHO Successful.
+ECHO Press any key to exit.
+pause
--- a/基础编程/e11.基于MAVROS的无人机控制实验/code/SITLRunROS.bat
+++ b/基础编程/e11.基于MAVROS的无人机控制实验/code/SITLRunROS.bat
@@ -0,0 +1,157 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+REM This script use UDPSIMMODE=2 for MAVLink FULL control
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+REM Total vehicle Number to auto arrange position
+REM SET /a TOTOAL_COPTER=8
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Check if DLLModel is a name string, if yes, copy the DLL file to CopterSim folder
+SET /A DLLModelVal=DLLModel
+if %DLLModelVal% NEQ %DLLModel% (
+    REM Copy the latest dll file to CopterSim folder
+    copy /Y "%~dp0"\%DLLModel%.dll %PSP_PATH%\CopterSim\external\model\%DLLModel%.dll
+)
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., SimMode=2 equals to  SimMode=PX4_SITL_RFLY
+set SimMode=2
+
+REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
+REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
+REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
+set PX4SitlFrame=iris
+
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=Grasslands
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; IS_BROADCAST=0: only this computer, IS_BROADCAST=1: broadcast; 
+REM or use IP address to increase speed, e.g., IS_BROADCAST=192.168.3.1
+REM Note: in IP mode, IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
+REM You can also use a IP list with seperator "," or ";" to specify IPs to send, e.g., 127.0.0.1,192.168.1.4,192.168.1.5
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=2
+
+
+:Top
+ECHO.
+ECHO ---------------------------------------
+REM Max vehicle number 50
+SET /a MAX_VEHICLE=50
+SET /a VehicleNum=1
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+
+set /a cntr=%START_INDEX%
+set /a endNum=%VehicleTotalNum%+1
+
+:loopBegin
+set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
+choice /t 1 /d y /n >nul
+set /a cntr=%cntr%+1
+
+if %cntr% EQU %endNum% goto loopEnd
+goto loopBegin
+:loopEnd
+
+REM Set ToolChainType 1:Win10WSL 3:Cygwin
+SET /a ToolChainType=1
+
+if "%IS_BROADCAST%" == "0" (
+    SET IS_BROADCAST=0
+) else (
+    SET IS_BROADCAST=1
+)
+
+SET WINDOWSPATH=%PATH%
+if %ToolChainType% EQU 1 (
+    wsl -d RflySim-20.04 -e bash -lic "echo Starting PX4 Build; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;~/mavros_run.sh %START_INDEX%,%VehicleNum%; pkill -x px4 || true"
+    wsl --shutdown
+) else (
+    REM CYGPath
+    cd /d %PSP_PATH%\CygwinToolchain
+    CALL setPX4Env.bat
+    bash -l -i -c 'echo Starting SITL SIMULATION; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; pwd; make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%; pkill -x px4 || true;'
+)
+SET PATH=%WINDOWSPATH%
+
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+
+ECHO Start End.
--- a/基础编程/e11.基于MAVROS的无人机控制实验/code/WinWSL.bat
+++ b/基础编程/e11.基于MAVROS的无人机控制实验/code/WinWSL.bat
@@ -0,0 +1,12 @@
+@echo off
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+cd /d %PSP_PATH%\VcXsrv
+tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config1.xlaunch
+
+cd /d %~dp0
+wsl -d RflySim-20.04 
+
--- a/基础编程/e6.ROS环境下python测试实验/Readme.pdf
+++ b/基础编程/e6.ROS环境下python测试实验/Readme.pdf
--- a/基础编程/e6.ROS环境下python测试实验/RosSwitch.bat
+++ b/基础编程/e6.ROS环境下python测试实验/RosSwitch.bat
@@ -0,0 +1,16 @@
+@echo off
+wsl -d RflySim-20.04 -e bash -lic "echo Current version is ROS$ROS_VERSION"
+
+SET /P ROSVer=New ROS Version 1 or 2:
+if %ROSVer% EQU 1 (
+    ECHO Switch to ROS1
+    wsl -d RflySim-20.04 ~/ros_switch.sh 1
+
+) ELSE (
+    ECHO Switch to ROS2  
+    wsl -d RflySim-20.04 ~/ros_switch.sh 2
+)
+wsl --shutdown
+ECHO Successful.
+ECHO Press any key to exit.
+pause
--- a/基础编程/e6.ROS环境下python测试实验/WinWSL.bat
+++ b/基础编程/e6.ROS环境下python测试实验/WinWSL.bat
@@ -0,0 +1,12 @@
+@echo off
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+cd /d %PSP_PATH%\VcXsrv
+tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config1.xlaunch
+
+cd /d %~dp0
+wsl -d RflySim-20.04 
+
--- a/基础编程/e6.ROS环境下python测试实验/WslGUI.bat
+++ b/基础编程/e6.ROS环境下python测试实验/WslGUI.bat
@@ -0,0 +1,21 @@
+@echo off
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+
+cd /d %PSP_PATH%\VcXsrv
+Xlaunch.exe -run config.xlaunch
+
+choice /t 1 /d y /n >nul
+
+cd /d %~dp0
+wsl -d RflySim-20.04 ~/StartUI.sh
+choice /t 1 /d y /n >nul
+tasklist|find /i "vcxsrv.exe" && taskkill /f /IM "vcxsrv.exe"
+wsl --shutdown
--- a/基础编程/e6.ROS环境下python测试实验/code/hello.cpp
+++ b/基础编程/e6.ROS环境下python测试实验/code/hello.cpp
@@ -0,0 +1,13 @@
+#include "ros/ros.h"
+
+int main(int argc, char *argv[])
+{
+    //执行 ros 节点初始化
+    ros::init(argc,argv,"hello");
+    //创建 ros 节点句柄(非必须)
+    ros::NodeHandle n;
+   
+    ROS_INFO("hello SLAm!");
+
+    return 0;
+}
--- a/基础编程/e6.ROS环境下python测试实验/code/listener.py
+++ b/基础编程/e6.ROS环境下python测试实验/code/listener.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+
+import rospy  
+from std_msgs.msg import String
+
+def callback(data):  
+    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
+
+def listener():
+
+    # In ROS, nodes are uniquely named. If two nodes with the same
+    # node are launched, the previous one is kicked off. The
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'listener' node so that multiple listeners can
+    # run simultaneously.
+    rospy.init_node('listener', anonymous=True)
+
+    rospy.Subscriber("chatter", String, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()
--- a/基础编程/e6.ROS环境下python测试实验/code/talker.py
+++ b/基础编程/e6.ROS环境下python测试实验/code/talker.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    rospy.init_node('talker', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        hello_str = "hello world %s" % rospy.get_time()
+        rospy.loginfo(hello_str)
+        pub.publish(hello_str)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:  
+        talker()  
+    except rospy.ROSInterruptException:
+        pass
--- a/基础编程/e6.ROS环境下python测试实验/install-ROS-ubuntu.sh
+++ b/基础编程/e6.ROS环境下python测试实验/install-ROS-ubuntu.sh
@@ -0,0 +1,225 @@
+#!/usr/bin/env bash
+echo "---------- $0 start ----------"
+set -e
+# set -x
+
+ROS_WS_ROOT=$HOME/ardupilot-ws
+AP_GZ_ROOT=$HOME/ardupilot_gz_ws
+
+red=`tput setaf 1`
+green=`tput setaf 2`
+reset=`tput sgr0`
+
+sep="##############################################"
+
+
+function heading() {
+    echo "$sep"
+    echo $*
+    echo "$sep"
+}
+
+ASSUME_YES=false
+
+function maybe_prompt_user() {
+    if $ASSUME_YES; then
+        return 0
+    else
+        read -p "$1"
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            return 0
+        else
+            return 1
+        fi
+    fi
+}
+
+function usage
+{
+    echo "Usage: ./installROS.sh [[-p package] | [-h]]"
+    echo "Install ROS1"
+    echo "This script will select the ROS distribution according to the OS being used"
+    echo "Installs desktop-full as default base package; Use -p to override"
+    echo "-p | --package <packagename>  ROS package to install"
+    echo "                              Multiple usage allowed"
+    echo "                              Must include one of the following:"
+    echo "                               ros-base"
+    echo "                               desktop"
+    echo "                               desktop-full"
+    echo "-h | --help  This message"
+}
+
+function shouldInstallPackages
+{
+    echo "${red}Your package list did not include a recommended base package${reset}"
+    echo "Please include one of the following:"
+    echo "   ros-base"
+    echo "   desktop"
+    echo "   desktop-full"
+    echo ""
+    echo "ROS not installed"
+}
+
+function package_is_installed() {
+    dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
+}
+
+# Iterate through command line inputs
+packages=()
+while [ "$1" != "" ]; do
+    case $1 in
+        -p | --package )        shift
+                                packages+=("$1")
+                                ;;
+        -h | --help )           usage
+                                exit
+                                ;;
+        * )                     usage
+                                exit 1
+    esac
+    shift
+done
+
+# Install lsb-release as it is needed to check Ubuntu version
+if ! package_is_installed "lsb-release"; then
+    heading "Installing lsb-release"
+    sudo apt install lsb-release -y
+    echo "Done!"
+fi
+
+# Checking Ubuntu release to adapt software version to install
+RELEASE_CODENAME=$(lsb_release -c -s)
+PYTHON_V="python3"  # starting from ubuntu 20.04, python isn't symlink to default python interpreter
+
+
+# echo $RELEASE_CODENAME
+
+if [ ${RELEASE_CODENAME} == 'bionic' ] ; then
+    #Ubuntu 18.04 - Melodic
+    ROS_VERSION="melodic"
+    PYTHON_V="python2"
+    heading "${green}Detected Ubuntu 18.04, installing ROS Melodic${reset}"
+elif [ ${RELEASE_CODENAME} == 'buster' ]; then
+    #RPi Buster - Melodic
+    ROS_VERSION="melodic"
+    PYTHON_V="python2"
+    heading "${green}Detected RPi Buster, installing ROS Melodic${reset}"
+elif [ ${RELEASE_CODENAME} == 'focal' ]; then
+    #Ubuntu 20.04 - Noetic
+    ROS_VERSION="noetic"
+    PYTHON_V="python3"
+    heading "${green}Detected Ubuntu 20.04, installing ROS Noetic${reset}"
+elif [ ${RELEASE_CODENAME} == 'jammy' ]; then
+    #Ubuntu 22.04 - unsupported only ROS2
+    heading "${red}Currently only ROS1 is supported. This Ubuntu release can only be used with ROS2.${reset}"
+    exit 1
+else
+    # We assume an unsupported OS is being used.
+    heading "${red}Unsupported OS detected. Please refer to the ROS webpage to find how to install ROS1 on your system if at all possible.${reset}"
+    exit 1
+fi
+
+# Check to see if other packages were specified
+# If not, set the default base package
+if [ ${#packages[@]}  -eq 0 ] ; then
+ packages+="desktop-full"
+fi
+echo "Packages to install: "${packages[@]}
+# Check to see if we have a ROS base kinda thingie
+hasBasePackage=false
+for package in "${packages[@]}"; do
+  if [[ $package == "ros-base" ]]; then
+     delete=ros-base
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-ros-base"
+     hasBasePackage=true
+     break
+  elif [[ $package == "desktop" ]]; then
+     delete=desktop
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-desktop"    
+     hasBasePackage=true
+     break
+  elif [[ $package == "desktop-full" ]]; then
+     delete=desktop-full
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-desktop-full"    
+     hasBasePackage=true
+     break
+  fi
+done
+if [ $hasBasePackage == false ] ; then
+   shouldInstallPackages
+   exit 1
+fi
+
+heading "${green}Adding Repositories and source lists${reset}"
+#Lets start instaling stuff
+sudo apt install software-properties-common -y
+sudo apt-add-repository universe
+sudo apt-add-repository multiverse
+sudo apt-add-repository restricted
+
+# Setup sources.lst
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+# Setup keys
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+# If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
+# Installation
+
+heading "${green}Updating apt${reset}"
+sudo apt update
+
+heading "${green}Installing ROS${reset}"
+# Here we loop through any packages passed on the command line
+# Install packages ...
+for package in "${packages[@]}"; do
+  sudo apt install $package -y
+done
+
+# install other needed packages
+sudo apt install build-essential cmake -y
+
+#
+# To find available packages:
+# apt-cache search ros-melodic
+# 
+# Initialize rosdep
+
+heading "${green}Installing rosdep${reset}"
+
+sudo apt install ${PYTHON_V}-rosdep -y
+# Certificates are messed up on earlier version Jetson for some reason
+# Do not know if it is an issue with the Xavier, test by commenting out
+# sudo c_rehash /etc/ssl/certs
+# Initialize rosdep
+
+heading "${green}Initializaing rosdep${reset}"
+
+sudo rosdep init || true
+# To find available packages, use:
+rosdep update
+# Use this to install dependencies of packages in a workspace
+# rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+# Environment Setup - Don't add /opt/ros/${ROS_VERSION}/setup.bash if it's already in bashrc
+# if maybe_prompt_user "Do you want to add ROS_HOSTNAME and ROS_MASTER_URI to your .bashrc [N/y]?" ; then
+#     heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
+#     grep -q -F "ROS_HOSTNAME=$HOSTNAME.local" ~/.bashrc || echo "ROS_HOSTNAME=$HOSTNAME.local" >> ~/.bashrc
+#     grep -q -F "ROS_MASTER_URI=http://$HOSTNAME.local:11311" ~/.bashrc || echo "ROS_MASTER_URI=http://$HOSTNAME.local:11311" >> ~/.bashrc
+#     grep -q -F "source /opt/ros/${ROS_VERSION}/setup.bash" ~/.bashrc || echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
+#     source ~/.bashrc
+# fi
+
+heading "${green}Installing rosinstall tools${reset}"
+
+sudo apt install ${PYTHON_V}-rosinstall ${PYTHON_V}-rosinstall-generator ${PYTHON_V}-wstool ${PYTHON_V}-catkin-tools -y
+
+pip3 install rospkg
+pip3 install catkin-tools
+pip3 install roslibpy
+
+# 安装必要的库
+pip3 install open3d==0.10.0 mavsdk==1.2.0
+
+# 安装其他必要库
+sudo apt install libgoogle-glog-dev
--- a/基础编程/e6.ROS环境下python测试实验/名称-ROS环境部署和安装测试实验.txt
+++ b/基础编程/e6.ROS环境下python测试实验/名称-ROS环境部署和安装测试实验.txt
--- a/基础编程/e6.ROS环境下python测试实验/测试方法.txt
+++ b/基础编程/e6.ROS环境下python测试实验/测试方法.txt
@@ -0,0 +1,27 @@
+0.运行Desktop\RflyTools\RosSwitch快捷方式或本文件夹“RosSwitch.bat”
+确认当前ROS环境，如果不是ROS1，则切换到ROS1
+
+一、ROS1程序调控
+1. 运行Desktop\RflyTools\WslGUI快捷方式或文件夹“WslGUI.bat”，打开一个GUI窗口。
+2. 在其中，按下CTRL+ALT+T的快捷键，打开一个终端。输入
+roscore
+来启动ROS Master
+3. 按下CTRL+ALT+T的快捷键，打开一个新终端。输入
+rosrun turtlesim turtlesim_node
+来启动小海龟仿真器
+4. 按下CTRL+ALT+T的快捷键，打开一个新终端。输入
+rosrun turtlesim turtle_teleop_key
+启动海龟键盘控制节点
+5. 通过键盘方向键，就能控制海龟运动了。
+其中上下键，控制前进。
+左右键控制方向。
+
+注：第一句指令将启动一个蓝色背景的海龟仿真器，第二句指令将启动一个键盘控制节点，在该终端中点击键盘上的“上下左右”按键，就可以控制小海龟运动了。
+
+
+二、ROS1环境部署
+1. 找一台Ubuntu电脑或者虚拟机。
+2. 拷贝install-ROS-ubuntu.sh到系统中，并运行，就能自动部署环境。
+3. 加载ROS1环境，输入如下命令即可
+source /opt/ros/noetic/setup.bash
+4. 按“一、ROS1程序调控”中的步骤，测试ROS环境是否安装正确。
--- a/基础编程/e7.Offboard模式介绍及控制实验/Readme.docx
+++ b/基础编程/e7.Offboard模式介绍及控制实验/Readme.docx
--- a/基础编程/e7.Offboard模式介绍及控制实验/Readme.pdf
+++ b/基础编程/e7.Offboard模式介绍及控制实验/Readme.pdf
--- a/基础编程/e7.Offboard模式介绍及控制实验/code/OffboardCircle.py
+++ b/基础编程/e7.Offboard模式介绍及控制实验/code/OffboardCircle.py
@@ -0,0 +1,89 @@
+
+# import required libraries
+# pip3 install pymavlink pyserial
+
+import cv2
+import numpy as np
+import time
+import VisionCaptureApi
+import PX4MavCtrlV4 as PX4MavCtrl
+import math
+import ReqCopterSim
+
+req = ReqCopterSim.ReqCopterSim() # 获取局域网内所有CopterSim程序的电脑IP列表
+StartCopterID = 1 # 初始飞机的ID号
+TargetIP = req.getSimIpID(StartCopterID) # 获取CopterSim的1号程序所在电脑的IP，作为目标IP
+# 注意：如果是本电脑运行的话，那TargetIP是127.0.0.1的本机地址；如果是远程访问，则是192打头的局域网地址。
+# 因此本程序能同时在本机运行，也能在其他电脑运行。
+
+VehilceNum = 1
+MavList=[]
+# Create MAV instance
+for i in range(VehilceNum):
+    CopterID=StartCopterID+i # 当前配置的飞机序号
+    TargetIP = req.getSimIpID(CopterID) # 获取对应的电脑IP
+    req.sendReSimIP(CopterID) # 请求回传数据到本电脑
+    time.sleep(1)
+    MavList = MavList+[PX4MavCtrl.PX4MavCtrler(CopterID,TargetIP)] # 初始化并建立i号飞机的MAVLink通信连接
+
+time.sleep(2)
+# Start MAV loop with UDP mode: MAVLINK_FULL
+for i in range(VehilceNum):
+    MavList[i].InitMavLoop()
+
+# Enter Offboard mode to start vehicle control
+time.sleep(2)
+for i in range(VehilceNum):
+    MavList[i].initOffboard()
+
+# Get the takeoff position of each vehicle to the UE4 Map
+# this can be adopted to obtain the global position of a vehicle in swarm simulation
+time.sleep(2)
+Error2UE4Map=[]
+for i in range(VehilceNum):
+    mav=MavList[i]
+    Error2UE4Map = Error2UE4Map+[-np.array([mav.uavGlobalPos[0]-mav.uavPosNED[0],mav.uavGlobalPos[1]-mav.uavPosNED[1],mav.uavGlobalPos[2]-mav.uavPosNED[2]])]
+
+# fly to 10m high above its takeoff position
+for i in range(VehilceNum):
+    MavList[i].SendPosNED(0, 0, -10, 0) 
+time.sleep(10)
+
+
+lastTime = time.time()
+startTime = time.time()
+timeInterval = 1/30.0 #here is 0.0333s (30Hz)
+while True:
+    lastTime = lastTime + timeInterval
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime) # sleep until the desired clock
+    else:
+        lastTime = time.time()
+    # The following code will be executed 30Hz (0.0333s)
+    
+    t=time.time()-startTime
+    for j in range(VehilceNum):
+        mav=MavList[j]
+        
+        # target position in UE4 map global frame
+        if t<10:
+            targetPosE=np.array([-0,0,-15]) # fly to 15 meters high in 0 to 10s
+        else: #fly circle after 10s
+            targetPosE=np.array([10*math.sin(t/2+math.pi/2)-10,10*math.sin(t/2.0),-15])
+        
+        # target position in vehilce takeoff frame
+        targetPosE=targetPosE+Error2UE4Map[j]
+        mav.SendPosNED(targetPosE[0],targetPosE[1],targetPosE[2],0)
+
+    if t>200: # end simulation when 200s
+        break
+    
+
+for i in range(VehilceNum):
+    MavList[i].endOffboard() 
+
+time.sleep(1)
+for i in range(VehilceNum):
+    MavList[i].stopRun() 
+
--- a/基础编程/e7.Offboard模式介绍及控制实验/code/Python38Run.bat
+++ b/基础编程/e7.Offboard模式介绍及控制实验/code/Python38Run.bat
@@ -0,0 +1,5 @@
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+start cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put Python38Run.bat into your code folder && echo Use the command: 'python XXX.py' to run the script with Python && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%CD%;%PATH%"
--- a/基础编程/e7.Offboard模式介绍及控制实验/code/SITLRun.bat
+++ b/基础编程/e7.Offboard模式介绍及控制实验/code/SITLRun.bat
@@ -0,0 +1,171 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=E:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/e/PX4PSP
+)
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+REM Total vehicle Number to auto arrange position
+REM SET /a TOTOAL_COPTER=8
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Check if DLLModel is a name string, if yes, copy the DLL file to CopterSim folder
+SET /A DLLModelVal=DLLModel
+if %DLLModelVal% NEQ %DLLModel% (
+    REM Copy the latest dll file to CopterSim folder
+    copy /Y "%~dp0"\%DLLModel%.dll %PSP_PATH%\CopterSim\external\model\%DLLModel%.dll
+)
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., SimMode=2 equals to  SimMode=PX4_SITL_RFLY
+set SimMode=2
+
+REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
+REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
+REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
+set PX4SitlFrame=iris
+
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=Grasslands
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; IS_BROADCAST=0: only this computer, IS_BROADCAST=1: broadcast; 
+REM or use IP address to increase speed, e.g., IS_BROADCAST=192.168.3.1
+REM Note: in IP mode, IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
+REM You can also use a IP list with seperator "," or ";" to specify IPs to send, e.g., 127.0.0.1,192.168.1.4,192.168.1.5
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=Mavlink_Full
+
+
+:Top
+ECHO.
+ECHO ---------------------------------------
+REM Max vehicle number 50
+SET /a MAX_VEHICLE=50
+SET /P VehicleNum=Please input UAV swarm number:
+SET /A Evaluated=VehicleNum
+if %Evaluated% EQU %VehicleNum% (
+    IF %VehicleNum% GTR 0 (
+        IF %VehicleNum% GTR %MAX_VEHICLE% (
+            ECHO The vehicle number is too large, which may cause a crash
+            pause
+        )
+        GOTO StartSim
+    )
+    ECHO Not a positive integer
+    GOTO Top
+) ELSE (
+    ECHO Not a integer
+    GOTO Top
+)
+:StartSim
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+
+set /a cntr=%START_INDEX%
+set /a endNum=%VehicleTotalNum%+1
+
+:loopBegin
+set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
+choice /t 1 /d y /n >nul
+set /a cntr=%cntr%+1
+
+if %cntr% EQU %endNum% goto loopEnd
+goto loopBegin
+:loopEnd
+
+REM Set ToolChainType 1:Win10WSL 3:Cygwin
+SET /a ToolChainType=1
+
+if "%IS_BROADCAST%" == "0" (
+    SET IS_BROADCAST=0
+) else (
+    SET IS_BROADCAST=1
+)
+
+SET WINDOWSPATH=%PATH%
+if %ToolChainType% EQU 1 (
+    wsl -d RflySim-20.04 echo Starting PX4 Build; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; export PATH=$HOME/ninja:$HOME/gcc-arm-none-eabi-7-2017-q4-major/bin:$PATH;make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1
+) else (
+    REM CYGPath
+    cd /d %PSP_PATH%\CygwinToolchain
+    CALL setPX4Env.bat
+    bash -l -i -c 'echo Starting SITL SIMULATION; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; pwd; make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1; pkill -x px4 || true;'
+)
+SET PATH=%WINDOWSPATH%
+
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+
+ECHO Start End.