How to run this script.

1. Start Gazebo:

   1.1. Open a terminal. Enter the PX4 source code folder, namely, "~/PX4-Autopilot/".

   1.2. Run make px4_sitl_default gazebo

   If you have any bugs, just fix it. Everything would happen when you are compiling PX4.

2. Start MAVROS, namely, the communication between ROS and the Control unit of the drone (PX4).

   2.1. Open another folder and source this ROS package.

   2.2. Run roslaunch fntsmc-ppo-ros start.launch

3. Start control node.

   3.1 Open another folder and source this ROS package.

   3.2. Run rosrun fntsmc-ppo-ros control_ros2.py rosrun fntsmc-ppo-ros control_ros.py also works, but it is the old version

4. (Optional) Polt curve

   4.1 Open another folder and enter the folder of "plot.py"

   4.2 Run python3 plot.py

哎，然后这个无人机就在Gazebo环境里面就该飞起来了啊

控制效果就是自己的控制器，里面爱加啥加啥，但是目前只有外环控制。