# 从ROS连接到ArduPilot

## 与 ROS 连接[¶](https://ardupilot.org/dev/docs/ros-connecting.html#connecting-with-ros)

在尝试连接 ROS 之前，请确保已按照相应的配套计算机页面（[RPi3、](https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html#raspberry-pi-via-mavlink)[NVidia TX1、NVidia TX2](https://ardupilot.org/dev/docs/companion-computer-nvidia-tx1.html#companion-computer-nvidia-tx1) 或[英特尔爱迪生](https://ardupilot.org/dev/docs/intel-edison.html#intel-edison)）上的说明设置了物理串行电缆连接和 ArduPilot 侧参数。

在飞行控制器上运行的ArduPilot和ROS/MAVROS之间的连接可以通过配套计算机上的以下命令建立：

* 打开一个终端并输入“roscore”
* 打开另一个终端并启动 Mavros，如 [Ros/Mavros wiki 上的描述](http://wiki.ros.org/mavros#Usage)。例如，以下说明适用于打开端口 2 的 TX14855/APSync 安装（请参阅[本页](https://ardupilot.org/dev/docs/apsync-intro.html#apsync-intro)底部的“如何将飞行控制器数据路由到各种程序”）：

```
roslaunch mavros apm.launch fcu_url:=udp://:14855@
```

测试飞行控制器是否响应mavros命令，如mavsys（可以设置飞行模式）和[mavsafety](http://wiki.ros.org/mavros#Utility_commands)（可以布防/撤防飞行器）：

```
rosrun mavros mavsys mode -c 0 (sets the vehicle to mode "0")
rosrun mavros mavsafety arm (to arm the vehicle)
```

注意

我们热衷于改进ArduPilot对ROS的支持，因此如果您发现问题（例如似乎不支持的命令），请在[ArduPilot问题列表中](https://github.com/ArduPilot/ardupilot/issues)报告它们，标题包含“ROS”，我们将尝试尽快解决这些问题。

[以前](https://ardupilot.org/dev/docs/ros-install.html)[下一个](https://ardupilot.org/dev/docs/ros-slam.html)<br>


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