ModernOctave / XTDrone-Notes

Setup XTDrone

See Setup Instructions

Run

Install Ceres Solver

./install-ceres.sh

Install VINS-Fusion

./install-vins.sh

Install RTABMap

./install-rtabmap.sh

Change Camera

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

./install-ego-planner.sh

Launch

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 

Control

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

Troubleshooting

Build space was previously built by catkin build / catkin_make.

catkin clean