RAFALAMAO/hector-quadrotor-noetic 开源项目中文解读：技术栈、适用场景与上手建议

项目介绍

RAFALAMAO/hector-quadrotor-noetic 是一个托管在 GitHub 上的开源项目，主要使用 C++ 编写，目前获得 98 个 Star、46 次 Fork。

仓库全名: RAFALAMAO/hector-quadrotor-noetic
Star 数: 98
Fork 数: 46
未关闭 Issue: 3

README 摘要

hectorquadrotor ported to ROS Noetic & Gazebo 11 .:: First version, please tell me the issues or help me to fix it ::. I took part of this from The Construct's repo and YouTube chanel. Requirements I. You need the following packages before install hectorquadrotornoetic. uniqueidentifier: geographicinfo: II. Build. III. Clone hectorquadrotornoetic. IV. Repeat step II. Usage Run a simulation by executing the launch…

完整内容见 GitHub 原始 README 或本页。

常见问题

hector-quadrotor-noetic 用什么语言开发？

主要使用 C++ 编写，目前有 98 个 Star。

如何获取 hector-quadrotor-noetic 的源码？

可以直接克隆仓库：git clone https://github.com/RAFALAMAO/hector-quadrotor-noetic.git，默认分支为 main；安装与运行步骤见仓库 README。

hector-quadrotor-noetic 最近还在维护吗？

仓库最近一次更新为 2024年1月15日，当前有 3 个未关闭 Issue；Star 数为 98，可作为社区活跃度的参考。

关于

Hector Quadrotor ported to ROS Noetic with Gazebo 11

描述取自 GitHub 官方 API，中文内容由 GitRead 中文社区编辑团队整理。

简要分析

热度分

192

价值分

活跃状态

活跃

camera drone gazebo gazebo-11 hector hector-quadrotor imu noetic quadrotor ros ros-noetic ubuntu ubuntu2004

GitHub

README

hector_quadrotor ported to ROS Noetic & Gazebo 11

.:: First version, please tell me the issues or help me to fix it ::.

I took part of this from The Construct’s repo and YouTube chanel.

Requirements

I. You need the following packages before install hector_quadrotor_noetic.

unique_identifier:

git clone https://github.com/ros-geographic-info/unique_identifier.git

geographic_info:

git clone https://github.com/ros-geographic-info/geographic_info.git

II. Build.

cd ~/catkin_ws && catkin_make

III. Clone hector_quadrotor_noetic.

git clone https://github.com/RAFALAMAO/hector_quadrotor_noetic.git

IV. Repeat step II.

Usage

Run a simulation by executing the launch file in hector_quadrotor_gazebo and hector_quadrotor_demo packages (only these work at the momment, but you can try other ones):

Run the following for one drone inside an empty world:

roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch

Run the following for one dron outdoor:

roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

Run the following for one dron outdoor without rviz interface:

roslaunch hector_quadrotor_demo outdoor_flight_gazebo_no_rviz.launch

Run the following for two drones inside an empty world:

roslaunch hector_quadrotor_demo two_drones_empty.launch

You can control it with:

teleop_twist_keyboard.
```
git clone https://github.com/ros-teleop/teleop_twist_keyboard
```
Note: check use in: https://github.com/ros-teleop/teleop_twist_keyboard
User interface, shared by my friend anderdefector and adapted by me. You can find the code in hector_ui/src folder inside this repo.
- Run the following for one dron ui:
```
rosrun hector_ui ui_hector_quad.py
```
- If you are working with two_drones_empty.launch.
  - Run the following for leader dron ui:
```
rosrun hector_ui ui_hector_quad_leader.py
```
  - Run the following for follower dron ui:
```
rosrun hector_ui ui_hector_quad_follower.py
```
- Note: Land and Take Off buttons don’t work with hector_quadrotor.

Test

Here is a video testing it:

hector-quadrotor-noetic