问题描述
系统环境:Ubuntu16.04
硬件:双目相机intel D435i,机载电脑intel NUC
最终目标是实现视觉惯性导航的无人机自主飞行。
之前已经使用d435i跑通了vins-mono,跑通了fast-planner,但是在fast-planner打开的rviz窗口中,显示不到相机采集到的实际地图环境。
前期过程参考了
解决过程
通过观察,在vins的终端中有这样的一段提示:
Client [/fast_planner_node] wants topic /vins_estimator/point_cloud to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca]. Dropping connection.
Client [/fast_planner_node] wants topic /vins_estimator/point_cloud to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [sensor_msgs/PointCl