前言

本文记录在 Docker 容器中搭建 PX4 SITL + ROS1 + Diff-Planner 的流程，并分别跑通深度相机和 Mid360 两条仿真链路。

如果还没有创建 ROS Noetic 容器，可以先参考《Docker使用教程》。

本文默认在容器内 root 用户下操作，~ 即 /root。

一、环境说明

  • Docker 容器：ros_noetic
  • ROS：Noetic
  • PX4：v1.14.3
  • 仿真：Gazebo classic
  • PX4 目录：~/PX4-Autopilot
  • Catkin 工作空间：~/catkin_ws

整体顺序：

  1. 安装并编译 PX4 SITL
  2. 配置 ROS、Gazebo 和 MAVROS
  3. 编译 Diff-Planner-PX4
  4. 分别启动深度相机和 Mid360 仿真

二、PX4 SITL 基础环境

1. 下载 PX4

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apt update
apt install -y git

cd ~
git clone https://github.com/PX4/PX4-Autopilot.git
cd PX4-Autopilot
git checkout -b dev v1.14.3
git submodule update --init --recursive

2. 安装 PX4 依赖

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cd ~/PX4-Autopilot/Tools/setup
chmod +x ubuntu.sh
./ubuntu.sh --no-nuttx --no-sim-tools

这个脚本会补齐 PX4 基础依赖，首次执行会比较久。

如果出现 pandas 和 numpy 版本冲突，例如：

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ERROR: pandas 2.0.3 has requirement numpy>=1.20.3; python_version < "3.10", but you'll have numpy 1.17.4 which is incompatible.

可以先清理 pip 中的版本，再使用系统源安装兼容版本：

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cd ~/PX4-Autopilot/Tools/setup
python3 -m pip uninstall -y pandas numpy

apt update
apt install -y python3-numpy python3-pandas

./ubuntu.sh --no-nuttx --no-sim-tools

3. 安装 Gazebo 相关依赖

下载 Gazebo 模型：

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mkdir -p ~/.gazebo/models
cd ~
git clone https://gitee.com/tyx6/gazebo_models.git
mv ./gazebo_models/* ~/.gazebo/models/

因为前面使用了 --no-sim-tools，后续编译 Gazebo classic 前需要补充 GStreamer 依赖：

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apt update
apt install -y \
  pkg-config \
  libgstreamer1.0-dev \
  libgstreamer-plugins-base1.0-dev \
  gstreamer1.0-plugins-base \
  gstreamer1.0-plugins-good

4. 编译 PX4

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cd ~/PX4-Autopilot
make px4_sitl_default gazebo

如果编译时报 GSTREAMER_APP_LIBRARIES 或 GSTREAMER_LIBRARIES 为 NOTFOUND，安装上面的 GStreamer 依赖后清理 Gazebo classic 缓存，再重新编译：

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cd ~/PX4-Autopilot

rm -rf build/px4_sitl_default/build_gazebo-classic
rm -rf build/px4_sitl_default/external/Stamp/sitl_gazebo-classic

make px4_sitl_default gazebo

三、ROS 环境和 MAVROS

1. 写入环境变量

建议把环境变量写进 ~/.bashrc。如果容器的 /root 挂载到了宿主机，也可以直接在宿主机编辑：

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nano ~/docker/ros_root/.bashrc

在文件末尾添加：

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# ROS Noetic
[ -f /opt/ros/noetic/setup.bash ] && source /opt/ros/noetic/setup.bash

# Catkin workspace
[ -f ~/catkin_ws/devel/setup.bash ] && source ~/catkin_ws/devel/setup.bash

# PX4 Gazebo classic
if [ -f ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ]; then
  source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot/ ~/PX4-Autopilot/build/px4_sitl_default > /dev/null
fi

# PX4 ROS package path
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic

当前终端手动加载一次：

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source ~/.bashrc

2. 安装 MAVROS

PX4 通过 MAVROS 和 ROS 通信。容器内默认是 root 用户，不需要加 sudo：

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apt update
apt install -y \
  ros-noetic-mavros \
  ros-noetic-mavros-extras \
  wget

安装 GeographicLib datasets：

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cd ~
wget https://gitee.com/tyx6/mytools/raw/main/mavros/install_geographiclib_datasets.sh
chmod a+x ./install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

这个脚本会下载地理坐标数据集，可能需要等待一段时间。

3. 验证 PX4 和 MAVROS

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roslaunch px4 mavros_posix_sitl.launch

另开一个终端检查连接状态：

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rostopic echo /mavros/state | grep connected

看到 connected: True 后，再继续后面的步骤。

四、Diff-Planner-PX4 集成

1. 安装依赖

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apt update
apt install -y \
  python3-catkin-tools \
  python3-rosinstall-generator \
  python3-osrf-pycommon \
  libgoogle-glog-dev \
  libgflags-dev \
  libeigen3-dev \
  libarmadillo-dev \
  ros-noetic-pcl-ros \
  ros-noetic-tf2-geometry-msgs \
  ros-noetic-laser-geometry \
  ros-noetic-tf2-sensor-msgs

2. 下载并编译

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mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/dreamer198/Diff-Planner-PX4.git

cd ~/catkin_ws
source /opt/ros/noetic/setup.bash
catkin init
catkin build

如果工作空间已经初始化过，直接执行 catkin build 即可。

3. 复制仿真配置

把 Diff-Planner-PX4 中的模型、世界文件和 launch 文件复制到 PX4 工程：

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# model and world
cp -r ~/catkin_ws/src/Diff-Planner-PX4/sitl_config/models/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
cp ~/catkin_ws/src/Diff-Planner-PX4/sitl_config/worlds/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/

# launch
cp ~/catkin_ws/src/Diff-Planner-PX4/sitl_config/outdoor_depth_camera.launch ~/PX4-Autopilot/launch/
cp ~/catkin_ws/src/Diff-Planner-PX4/sitl_config/outdoor_mid360.launch ~/PX4-Autopilot/launch/
cp ~/catkin_ws/src/Diff-Planner-PX4/sitl_config/px4_config.yaml ~/PX4-Autopilot/launch/

如果 PX4 目录中已有同名文件，复制前可以先备份。

五、深度相机仿真

这一条链路需要三个终端：Gazebo、se3_controller、diff_planner。

终端一：启动 Gazebo

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roslaunch px4 outdoor_depth_camera.launch

终端二：启动控制器

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cd ~/catkin_ws
source devel/setup.bash
roslaunch se3_controller sitl_se3_controller.launch

控制器启动后，通常会自动进入 offboard 模式、解锁，并起飞到 2 m。

终端三：启动 Diff-Planner

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cd ~/catkin_ws
source devel/setup.bash
roslaunch diff_planner run_px4_sitl_gazebo.launch

六、Mid360 仿真

Mid360 需要额外编译 Livox Gazebo 插件，并把插件和模型复制到 PX4。

1. 下载并编译插件

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cd ~/catkin_ws/src
git clone https://github.com/Tfly6/Mid360_px4_sim_plugin.git

cd ~/catkin_ws
source /opt/ros/noetic/setup.bash
catkin build

2. 测试插件

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source ~/catkin_ws/devel/setup.bash
source ~/catkin_ws/src/Mid360_px4_sim_plugin/gazebo_setup.bash
roslaunch livox_laser_simulation test_pattern.launch

如果能正常看到点云，说明插件加载成功。

3. 复制 Mid360 配置

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cd ~/catkin_ws
cp ./src/Mid360_px4_sim_plugin/livox_laser_simulation/launch/mavros_posix_sitl_mid360.launch ~/PX4-Autopilot/launch/
cp ./devel/lib/liblivox_laser_simulation.so ~/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic/
cp -r ./src/Mid360_px4_sim_plugin/livox_laser_simulation/models/Mid360 ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
cp -r ./src/Mid360_px4_sim_plugin/livox_laser_simulation/models/iris_mid360 ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/

终端一：启动 Gazebo

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roslaunch px4 outdoor_mid360.launch

终端二：启动控制器

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cd ~/catkin_ws
source devel/setup.bash
roslaunch se3_controller sitl_se3_controller.launch

终端三：启动 Diff-Planner

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cd ~/catkin_ws
source devel/setup.bash
roslaunch diff_planner run_px4_sitl_gazebo_mid360.launch

七、宿主机一键启动仿真

上面的三条命令都在容器内执行。如果想从宿主机一键拉起仿真，可以用 tmux + docker exec 管理三个终端。

先在宿主机安装 tmux：

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sudo apt update
sudo apt install -y tmux

在宿主机创建脚本：

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mkdir -p ~/code
nano ~/code/start_sim_diff_planner_px4.sh

写入下面内容：

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#!/usr/bin/env bash
set -euo pipefail

CONTAINER="${CONTAINER:-ros_noetic}"
SESSION="${SESSION:-diff_px4_sitl}"
WAIT_GAZEBO="${WAIT_GAZEBO:-12}"
WAIT_CONTROLLER="${WAIT_CONTROLLER:-5}"

ACTION="${1:-start}"
MODE="${2:-${MODE:-mid360}}"

usage() {
  cat <<EOF
Usage:
  $0 start [mid360|depth]
  $0 restart [mid360|depth]
  $0 stop
  $0 status
  $0 attach

Environment:
  CONTAINER=ros_noetic
  SESSION=diff_px4_sitl
  WAIT_GAZEBO=12
  WAIT_CONTROLLER=5
EOF
}

need_tmux() {
  if ! command -v tmux >/dev/null 2>&1; then
    echo "tmux not found. Install it first: sudo apt install -y tmux"
    exit 1
  fi
}

require_container() {
  if ! docker inspect "$CONTAINER" >/dev/null 2>&1; then
    echo "Docker container not found: $CONTAINER"
    exit 1
  fi
}

ensure_container_running() {
  local running
  running="$(docker inspect -f '{{.State.Running}}' "$CONTAINER")"
  if [ "$running" != "true" ]; then
    docker start "$CONTAINER" >/dev/null
  fi
}

allow_x11() {
  if [ -n "${DISPLAY:-}" ] && command -v xhost >/dev/null 2>&1; then
    xhost +SI:localuser:root >/dev/null 2>&1 || true
  fi
}

quote() {
  printf '%q' "$1"
}

docker_exec_cmd() {
  local cmd="$1"
  printf 'docker exec -it %q bash -lc %s' "$CONTAINER" "$(quote "$cmd")"
}

build_commands() {
  local gazebo_launch planner_launch extra_setup

  case "$MODE" in
    mid360)
      gazebo_launch="outdoor_mid360.launch"
      planner_launch="run_px4_sitl_gazebo_mid360.launch"
      extra_setup='[ -f ~/catkin_ws/src/Mid360_px4_sim_plugin/gazebo_setup.bash ] && source ~/catkin_ws/src/Mid360_px4_sim_plugin/gazebo_setup.bash'
      ;;
    depth|depth_camera)
      MODE="depth"
      gazebo_launch="outdoor_depth_camera.launch"
      planner_launch="run_px4_sitl_gazebo.launch"
      extra_setup='true'
      ;;
    *)
      usage
      exit 1
      ;;
  esac

  # shellcheck disable=SC2016
  BASE_SETUP='source /opt/ros/noetic/setup.bash; [ -f ~/catkin_ws/devel/setup.bash ] && source ~/catkin_ws/devel/setup.bash; if [ -f ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ]; then source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default >/dev/null; fi; export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic'

  GAZEBO_CMD="$BASE_SETUP; $extra_setup; roslaunch px4 $gazebo_launch; exec bash"
  CONTROLLER_CMD="$BASE_SETUP; cd ~/catkin_ws; roslaunch se3_controller sitl_se3_controller.launch; exec bash"
  PLANNER_CMD="$BASE_SETUP; cd ~/catkin_ws; roslaunch diff_planner $planner_launch; exec bash"
}

start_stack() {
  need_tmux
  require_container
  ensure_container_running
  allow_x11
  build_commands

  if tmux has-session -t "$SESSION" 2>/dev/null; then
    echo "tmux session already exists: $SESSION"
    echo "Use '$0 attach' to view it, or '$0 restart $MODE' to restart."
    exit 1
  fi

  tmux new-session -d -s "$SESSION" -n gazebo "$(docker_exec_cmd "$GAZEBO_CMD")"
  sleep "$WAIT_GAZEBO"

  tmux new-window -t "$SESSION:" -n controller "$(docker_exec_cmd "$CONTROLLER_CMD")"
  sleep "$WAIT_CONTROLLER"

  tmux new-window -t "$SESSION:" -n diff_planner "$(docker_exec_cmd "$PLANNER_CMD")"
  tmux select-window -t "$SESSION:gazebo"

  echo "Started $MODE simulation in tmux session: $SESSION"
  echo "Attach: $0 attach"
}

stop_stack() {
  if command -v tmux >/dev/null 2>&1 && tmux has-session -t "$SESSION" 2>/dev/null; then
    tmux kill-session -t "$SESSION"
  fi

  if docker inspect "$CONTAINER" >/dev/null 2>&1 \
    && [ "$(docker inspect -f '{{.State.Running}}' "$CONTAINER" 2>/dev/null)" = "true" ]; then
    docker exec "$CONTAINER" bash -lc '
      pkill -INT -f "[r]oslaunch px4 outdoor_.*launch" || true
      pkill -INT -f "[r]oslaunch se3_controller sitl_se3_controller.launch" || true
      pkill -INT -f "[r]oslaunch diff_planner run_px4_sitl_gazebo" || true
      sleep 2
      pkill -TERM -f "[g]zserver|[g]zclient|[p]x4|[r]osmaster|[r]osout" || true
    ' >/dev/null 2>&1 || true
  fi

  echo "Stopped tmux session and simulation processes."
}

status_stack() {
  if command -v tmux >/dev/null 2>&1 && tmux has-session -t "$SESSION" 2>/dev/null; then
    tmux list-windows -t "$SESSION"
  else
    echo "tmux session not running: $SESSION"
  fi

  docker ps --filter "name=$CONTAINER" --format "container={{.Names}} status={{.Status}}"
}

attach_stack() {
  need_tmux
  tmux attach -t "$SESSION"
}

case "$ACTION" in
  start)
    start_stack
    ;;
  restart)
    stop_stack
    start_stack
    ;;
  stop)
    stop_stack
    ;;
  status)
    status_stack
    ;;
  attach)
    attach_stack
    ;;
  -h|--help|help)
    usage
    ;;
  *)
    usage
    exit 1
    ;;
esac

赋予执行权限：

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chmod +x ~/code/start_sim_diff_planner_px4.sh

启动 Mid360 仿真：

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~/code/start_sim_diff_planner_px4.sh start mid360

启动深度相机仿真：

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~/code/start_sim_diff_planner_px4.sh start depth

常用命令：

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~/code/start_sim_diff_planner_px4.sh status
~/code/start_sim_diff_planner_px4.sh attach
~/code/start_sim_diff_planner_px4.sh stop
~/code/start_sim_diff_planner_px4.sh restart mid360

attach 后会进入 tmux 会话，三个窗口分别是：

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gazebo
controller
diff_planner

tmux 常用快捷键：

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Ctrl-b n    切到下一个窗口
Ctrl-b p    切到上一个窗口
Ctrl-b d    退出 tmux 会话但不停止仿真

如果 Gazebo 窗口没有显示，先确认创建容器时已经挂载 X11，并且宿主机执行过：

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xhost +SI:localuser:root

八、常见问题

1. roslaunch 找不到 package

确认当前终端已经加载环境：

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source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

如果已经写入 ~/.bashrc，重新打开终端或执行：

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source ~/.bashrc

2. Gazebo 找不到模型

检查模型是否已经复制到：

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~/.gazebo/models/
~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/

3. Mid360 插件没加载出来

重点检查：

  1. 是否执行过 source ~/catkin_ws/src/Mid360_px4_sim_plugin/gazebo_setup.bash
  2. liblivox_laser_simulation.so 是否已经复制到 ~/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic/
  3. Mid360 和 iris_mid360 模型是否已经复制到 PX4 的 Gazebo models 目录

4. 出现 obs Land enabled

这通常是地理围栏触发，不一定是程序错误。先确认仿真流程是否还能继续，再决定是否调整参数。

总结

这套流程的关键是先跑通 PX4 SITL + MAVROS，再接入 Diff-Planner。深度相机和 Mid360 的差异主要在 Gazebo 模型、插件和对应的 launch 文件。