./install-ceres.sh
./install-vins.sh
./install-rtabmap.sh
Create a copy of ~/PX4_Firmware/launch/indoor1.launch.
cp ~/PX4_Firmware/launch/indoor1.launch ~/PX4_Firmware/launch/indoor1-depth.launch
Change the camera from iris_stereo_camera
to iris_realsense_camera
so that depth map data is available.
sed -i 's/iris_stereo_camera/iris_realsense_camera/g' ~/PX4_Firmware/launch/indoor1-depth.launch
./install-ego-planner.sh
Start the simulation
roslaunch px4 indoor1-depth.launch
Start VINS-Fusion
source ~/catkin_ws/devel/setup.bash
bash ~/catkin_ws/scripts/xtdrone_run_vio.sh
Start RTABMap
roslaunch vins rtabmap_vins.launch
Change coordinate system direction of camera pose
python ~/XTDrone/motion_planning/3d/ego_transfer.py iris 0
Start rviz
rviz -d ~/XTDrone/motion_planning/3d/ego_rviz.rviz
Start ego_planner
roslaunch ego_planner single_uav.launch
Establish a connection to the drone
cd ~/XTDrone/communication
python multirotor_communication.py iris 0
Use keyboard to control the drone
cd ~/XTDrone/control/keyboard
python multirotor_keyboard_control.py iris 1 vel
catkin clean