PX4官方手册中对于T265定点的说明，用的Auterion的VIO功能包。

http://docs.px4.io/master/zh/peripherals/camera_t265_vio.html

网站似乎现在打不开，可能网址有变更。暂时通过百度快照复制记录下。我以前可能觉得PX4手册这里写的不是很详细啊所以没有专门复制或者截屏记录？

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PX4官方手册提供的是Auterion的VIO功能包（我已经fork）  https://github.com/Auterion/VIO

 

 

 

PX4 自动驾驶用户指南

 

QGroundControl

 

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MAVSDK

 

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MAVLINK

 

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Support

QGroundControl

 

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MAVSDK

 

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MAVLINK

 

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Support

• 简介

• 入门指南

• 基本装配

• 基本配置

• 机架组装

• 飞行

• 飞行日志分析

• 高级功能
  • 空中交通避障：ADSB/FLARM
  • 空中交通避障：UTM
  • 机器视觉
    • 自主避障
    • 安全着陆
    • 防撞功能
    • 路径规划接口
    • 运动捕捉（MoCap）
    • 视觉惯性里程计(VIO)
      • Realsense T265 Tracking Camera (VIO)
  • 精准着陆
  • RTK GPS Positioning/Heading
  • RockBlock SatCom 系统
  • Video Streaming

• 高级配置

• Hardware (Drones&Parts)

• Development

• Contribution (&Dev Call)

# T265 Intel Realsense Tracking Camera (VIO)

The Intel Realsense Tracking Camera T265

 

(opens new window) provides odometry information that can be used for VIO, augmenting or replacing other positioning systems on PX4.

提示

This camera is recommended, and is used in the Visual Inertial Odometry (VIO) > Supported Setup.

# Purchase Link

Intel® RealSense™ Tracking Camera T265

 

(opens new window) (store.intelrealsense.com)

# Setup Instructions

The instructions in Visual Inertial Odometry (VIO) explain how to set up this camera.

At high level:

• The VIO bridge ROS node

 

• (opens new window) provides a bridge between ROS and this camera. This node is only intended for use with this camera.
• The camera should be mounted with lenses facing down (default). For other orientations modify bridge_mavros.launch

• (opens new window) in the section below:

  <node pkg="tf" type="static_transform_publisher" name="tf_baseLink_cameraPose"
      args="0 0 0 0 1.5708 0 base_link camera_pose_frame 1000"/>
  

  This is a static transform that links the camera ROS frame camera_pose_frame to the mavros drone frame base_link.
  • the first three args specify translation x,y,z in metres from the center of flight controller to camera. For example, if the camera is 10cm in front of the controller and 4cm up, the first three numbers would be : [0.1, 0, 0.04,...]
  • the next three args specify rotation in radians (yaw, pitch, roll). So [... 0, 1.5708, 0] means pitch down by 90deg (facing the ground). Facing straight forward would be [... 0 0 0].
• The camera is sensitive to high frequency vibrations! It should be soft-mounted with, for example, vibration isolation foam. Launch files are provided for a number of different scenarios.

Launch File	Starts	参数描述
bridge_mavros.launch

 

(opens new window)	Bridge, MAVROS	Use on vehicle in most cases
bridge.launch

 

(opens new window)	Bridge only	Use if some other component is responsible for starting MAVROS).
bridge_mavros_sitl.launch

 

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Bridge, MAVROS, SITL

Use for simulation.

在 GitHub 上编辑此页

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Last Updated: 12/3/2020, 4:49:50 AM

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