/px4_odometry

Primary LanguageC++

PX4 ODOMETRY

BUILD

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone git@github.com:omeredemen/px4_odometry.git

# before build please be sure px4_msgs package is sourced on your system
colcon build

# after build
source ~/ros2_ws/install/setup.bash

BRIEF

px4_odom package contains a node called px4_odom_node , some launch and config files.

px4_odom_node provides some features:

  1. Subscribe the odometry topics and get odometry messages from VIO packages and convert them to VehicleOdometrymessages that can be understandable by PX4.
  2. Publish these messages to /fmu/in/vehicle_visual_odometry topic.
  3. This node gets VehicleOdometry messages from PX4 and broadcast as tf

Also this package contains some launch files. This file can be used for starting realsense2_camera , openvins , rtabmap_ros packages.

EXAMPLES

Here list of launch files and their usage:

  1. px4_odom.launch.py : this file starts px4_odom_node . Its config file’s name is config.yaml and here is its context

    sensor_debug: true
broadcast_tf: true
vio_topic: "/ov_msckf/odomimu"
px4_pose_topic: "/px4_odom/pose"

  2. rs_openvins.launch.py : this launch file starts realsense2_camera and ov_msckf packages. A file path that has configurations for openvins needs to be passed in command line.

    ros2 launch px4_odom rs_openvins.launch.py openvins_config_path:=/home/omer/rs_d456_stereo/estimator_config.yaml

  3. rs_rtapmab.launch.py : this launch file starts realsense2_camera and rtabmap_ros packages.

    ros2 launch px4_odom rs_rtabmap.launch.py

  4. rs.launch.py : this file starts realsense2_camera with config/rs_stereo.yaml

    ros2 launch px4_odom rs.launch.py

RESOURCES