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
To start MoViNav,
roslaunch monodepth depth.launch
To start MoViNav with octomap,
roslaunch monodepth map.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
To take off press the 'i' key util upwards vel is higher that 0.3. Then press 'b' followed by 't' to takeoff. Press 'k' to hover.
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
catkin clean