本文档介绍了如何在Ubuntu环境下，通过Pixhawk4和Up Board或NUC，利用T265摄像头进行视觉惯性 odometry（VIO）的设置和实现。步骤包括选择伴侣计算机、安装PX4工具链、设置基本环境、安装MAVROS、处理VIO和T265依赖，以及连接到PX4并配置参数。此外，还提供了针对Ubuntu 20.04的教程链接。
Reference Links
Open links below in sequence.
(Things you need to learn, or following Overall Steps below but get nothing )
Some are combined by same web page.
ROS Tutorials
PX4 User Guide
PX4 Development Guide
Initial Setup
Ubuntu Development Environment
PX4 Buliding(Alternative)
Companion Computer
MAVLink
MAVROS Installation
MAVLink Router(Alternative)
VIO Introduction
MAVLink Interface
T265
VIO Git
VIO Dependence
Realsense-ros
Vision_to_Mavros
MAVLink Inspector
Flight Analysis which is really important.
(Matlab is available of course)
cnROS_T
cnPX4_UG
cnPX4_DG
PX4 User/Development Guide & ROS Tutorials in Chinese.
(Recommend BUT Reference)
QGC User Guide
Flight Modes
Flight Modes Setup
Vehicle Status Notifications !!! MUST Remember and Check before each Flying Mission !!!
Notes
- How to install Java & Ant correctly.(if using Flightplot)
- connection between PX4 & Up Board
Overall Steps Beta
Capable in 20.04 tutorial has released. Please check at the end of the article.
Already have drones and a PC installed QGC?
Disarm your propellers First !
ESC Calibration
After ESC Calibration, press SWITCH button
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