基于gazebo的四旋翼无人机iris单目视觉ORB_SLAM2仿真

配置

参考 website

添加相机

• 在px4/launch中找mavros_posix_sitl.launch
• 拷贝一份作备份
• 修改如下

    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <!-- add mono camera for iris -->
    <arg name="my_camera" default="iris_fpv_cam"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <!-- also need to revise sdf -->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_camera)/$(arg my_camera).sdf"/>
    <!-- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> -->

运行

双目时，我用的：

$ rosrun ORB_SLAM2 Stereo 
~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt 
~/catkin_ws/src/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml true 
/camera/left/image_raw:=/stereo/left/image_raw 
/camera/right/image_raw:=/stereo/right/image_raw 
/orbslam2/vision_pose/pose:=/mavros/vision_pose/pose

但是单目用类似的一直报错，直到我删掉了true：

$ rosrun ORB_SLAM2 Mono 
~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/catkin_ws/src/ORB_SLAM2/Examples/Monocular/px4_sitl.yaml 
/camera/image_raw:=/iris/usb_cam/image_raw  
/orbslam2/vision_pose/pose:=/mavros/vision_pose/pose

特征点较少，初始化失败；