Make VISLAM work with PX4 #12
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potaito
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May 25, 2018
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| <!-- One maintainer tag required, multiple allowed, one person per tag --> | ||
| <!-- Example: --> | ||
| <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> | ||
| <maintainer email="rkintada@gmail.com">rkintada</maintainer> | ||
| <maintainer email="potaito@TODO.com">potaito</maintainer> |
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I think this can be undone and reverted to rkitanda 😄
I had bigger plans for this back in the days ....
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| # Change Log | |||
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The changelog can probably be removed again. I created it more for myself to keep track of things...
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| cmake_minimum_required(VERSION 2.8.3) | |||
| project(snap_ros_examples) | |||
| project(snapdragon_mavros_vislam) | |||
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Do we want to keep snapdragon_mavros_vislam as the official name?
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@potaito Thanks for the comments, I'll take care of those. |
Signed-off-by: Ramakrishna Kintada <rkintada@gmail.com>
Signed-off-by: Ramakrishna Kintada <rkintada@gmail.com>
Signed-off-by: Ramakrishna Kintada <rkintada@gmail.com>
Signed-off-by: Ramakrishna Kintada <rkintada@gmail.com>
…to feeding to VISLAM
…LTIME timestamp, which conforms with ros standards
TODO find nicer solution
add mavlink streams that mavros needs (also for avoidance)
And some other corrections required for proper snapdragon configuration
…ccount Signed-off-by: Roman <bapstroman@gmail.com>
…master Signed-off-by: Roman <bapstroman@gmail.com>
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This PR enables the VISLAM module to run in conjunction with lastest PX4 master.
The PX4 app sends raw imu data via mavlink to mavros which publishes the data on a ROS topic to which the VISLAM module subscribes.
The VISLAM pose and attitude estimate is then sent back to PX4 and can be fused in the state estimator.
Almost all of the work can be credited to @ChristophTobler @potaito @rkintada
Once we get this in (reviewed) we can update the awesome new Snapdragon guide from @nicovanduijn