# ROS 1 和 MAVROS
PX4开发团队建议用户迁移到 [ROS 2](../ros/ros2.md) (即跳过此章节)! 它使用 [MAVROS](../ros/mavros_installation.md) 节点与在硬件上运行或使用 [Gazebo 模拟器 ](../simulation/ros_interface.md) 的 PX4 进行通信。
ROS (机器人操作系统) 是一个通用的机器人库,可以用于为 PX4 自动驾驶仪创建强大的无人机应用程序。
本节包含使用“原始版本的ROS”和MAVROS包通过MAVLink与PX4通信相关的主题(MAVROS将ROS主题与MAVLink和PX4协议连接起来)
主要的话题包括:
- ROS/MAVROS Installation Guide: Setup a PX4 development environment with ROS 1 and MAVROS.
- ROS/MAVROS Offboard Example (C++): Tutorial showing the main concepts related to writing a C++ MAVROS/ROS node.
- ROS MAVROS Sending Custom Messages
- ROS with Gazebo Classic Simulation
- Gazebo Classic OctoMap Models with ROS
- ROS Installation on RPi
- External Position Estimation (Vision/Motion based)
# 安装
- PX4 ROS Setups.
- XTDrone (opens new window) - ROS + PX4 simulation environment for computer vision. The XTDrone Manual (opens new window) has everything you need to get started!
- Prometheus Autonomous Drone Project (opens new window) - Prometheus is a ROS 1 based, BSD-3 licensed collection of autonomous drone software packages from AMOVLab (opens new window), which provides a full set of solutions for the intelligent and autonomous flight of drones, such as mapping, localization, planning, control, and target detection, fully integrated with the Gazebo Classic Simulator.