基本教程
XTDrone: 基于PX4、ROS和Gazebo的无人机通用仿真平台 - Gitee.com
由于Noetic自带的OpenCV版本是4.2.0,在编译时需要先修改CMakeList.txt
依赖安装(不是全部,重点部分,其他依赖教程很多)
1 :Pangolin安装
https://github.com/stevenlovegrove/Pangolin
示例运行见另外一篇文章
2 Eigen3安装
#github 有个mirror,版本3.3.4 from 2017
git clone https://github.com/eigenteam/eigen-git-mirror
#安装
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make install
#安装后,头文件安装在/usr/local/include/eigen3/
3 realsense2安装
编译
依赖环境都安装好后进行编译,错误解决注意的地方:
cp -r ~/software/XTDrone/sensing/slam/vslam/ORB_SLAM3/ ~/catkin_ws/src/
mkdir ~/catkin_ws/scripts/
cp ~/catkin_ws/src/ORB_SLAM3/xtdrone* ~/catkin_ws/scripts/
cd ~/catkin_ws/src/ORB_SLAM3
1.修改 CMakeLists.txt文件(两个地方)
find_package(OpenCV 3.2)
#修改为
find_package(OpenCV 4.2)
#第一行加入
add_compile_options(-std=c++14)
2.Xdrone下载的ORBSLAM缺少文件,从官网先下下来补充
#g2o
ORB_SLAM3/Thirdparty/g20/g2o/stuff/timeutil.cpp
ORB_SLAM3/Thirdparty/g20/g2o/stuff/timeutil.h
#DBoW2
ORB_SLAM3/Thirdparty/DBoW2/DUtils/Timestamp.cpp
ORB_SLAM3/Thirdparty/DBoW2/DUtils/Timestamp.h
3.运行官网的./build.sh一直报错,解决办法----分步编译
echo "Configuring and building Thirdparty/DBoW2 ..."
cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
cd ../../g2o
echo "Configuring and building Thirdparty/g2o ..."
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
cd ../../../
echo "Uncompress vocabulary ..."
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..
echo "Configuring and building ORB_SLAM3 ..."
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j8 #或者make
//不行的话可以换成了 make -j4 来执行
4.编译build_ros.sh
#同样需要改正CMakeLists.txt文件(两个地方)
#文件位置::ORB_SLAM3/Examples/ROS/ORB_SLAM3/CMakeLists.txt
#find_package(OpenCV 3.2)
#修改为
#find_package(OpenCV 4.2)
#第一行加入
#add_compile_options(-std=c++14)
chmod +x build_ros.sh
./build_ros.sh
#或者运行下边的更快
cd ~/catkin_ws/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j8
运行示例
#终端1
roslaunch px4 indoor1.launch
#终端2
sh xtdrone_run_stereo.sh
cd catkin_ws/scripts/
sh xtdrone_run_orbslam_stereo.sh
###默认xtdrone_run_stereo.sh脚本是用于iris_0的,如果是给别的vehicle提供,需要修改该脚本,将iris_0换为其他vehicle,可以通过rostopic list 查看是哪一种vehicle。
接下来 便可以运行控制代码查看效果
cd ~/software/XTDrone/communication
python multirotor_communication.py solo 0
cd ~/software/XTDrone/control/keyboard
python multirotor_keyboard_control.py solo 1 vel
可以参考
ORB-SLAM3,Ubuntu20.04,ROS noetic環境構築
Ubuntu20.04 编译XTDrone的ORB-SLAM3全过程及解决报错++++VINS编译及报错解决-CSDN博客