VIO (Visual Inertial Odometry)

This package is a bridge from PX4 to the Realsense T265 camera which is able to provide odometry data.

Installation

These steps contain the installation process, software dependencies and building instructions.

1. This is a ROS package, it assumes you have either ROS Kinetc (Ubuntu 16.04) or ROS melodic (Ubuntu 18.04) installed.

2. Install catkin and create your catkin workspace directory.

   sudo apt install python-catkin-tools
   mkdir -p ~/catkin_ws/src

3. Clone this repository in your catkin workspace.

   cd ~/catkin_ws/src
   git clone https://github.com/Auterion/VIO.git

4. Install MAVROS (version 0.29.0 or above).

   Note: Instructions to install MAVROS from sources can be found here.

   • Melodic

     sudo apt install ros-melodic-mavros ros-melodic-mavros-extras

   • Kinetic

     sudo apt install ros-kinetic-mavros ros-kinetic-mavros-extras

5. Build the package:

   cd ~/catkin_ws/src
   catkin build px4_realsense_bridge

6. Run th ROS node:

   cd ~/catkin_ws/src
   roslaunch px4_realsense_bridge bridge_mavros.launch

Note This launch file starts the mavros node as well. Mavros needs to be running but if it is started elsewhere the basic launch file bridge.launch can be used. The file bridge_mavros_sitl.launch is only for using this node in combination with the PX4 SITL toolchain (Simulation). Instructions on how to setup the PX4 SITL toolchain can be found here.