这个包使用t265作为视觉里程计
- Ros:
wget http://fishros.com/install -O fishros && . fishros
- Python-ROS:
- For Ubuntu 18.04 and Under version
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update
rosversion -d
*For Ubnutu 20.04 and above version
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
- librealsense:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
安装ROS1
-
安装catkin工具链:
sudo apt install python-catkin-tools
-
克隆这个仓库
git clone https://github.com/TheRoadToReality/AutoDrone-px4.git cd AutoDrone-px4/catkin_ws catkin clean
-
安装 MAVROS
- Kinetic(Ubuntu 16.04)
sudo apt install ros-kinetic-mavros ros-kinetic-mavros-extras
- Melodic(Ubuntu 18.04)
sudo apt install ros-melodic-mavros ros-melodic-mavros-extras
- Noetic(Ubuntu 20.04)
sudo apt install ros-noetic-mavros ros-noetic-mavros-extras
- Kinetic(Ubuntu 16.04)
-
安装地理信息图集 [GeographicLib]
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh sudo bash ./install_geographiclib_datasets.sh
-
Install the [realsense2_camera] 在ROS中启动T265:
- Kinetic(Ubuntu 16.04)
sudo apt install ros-Kinedic-realsense2-camera
- Melodic(Ubuntu 18.04)
sudo apt install ros-melodic-realsense2-camera
- Noetic(Ubuntu 20.04)
sudo apt install ros-noetic-realsense2-camera
-
安装ROS点云库 (PCL):
- Melodic
sudo apt install ros-melodic-pcl-ros
- Kinetic
sudo apt install ros-kinetic-pcl-ros
- Noetic
sudo apt install ros-noetic-pcl-ros
- Melodic
-
编译这个package:
cd /文件名/catkin_ws catkin build px4_realsense_bridge
-
启动ROS节点:
source ~/文件名/catkin_ws/devel/setup.bash roslaunch px4_realsense_bridge bridge_mavros.launch
-
启动外部控制文件:
cd /文件名/offb catkin build Run the Scripts in Script/