VIO (Visual Inertial Odometry)

This package is a bridge from PX4 to the Realsense T265 camera, which provides odometry data.

Dependencies

• ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04): http://wiki.ros.org/ROS/Installation
• librealsense: https://github.com/IntelRealSense/librealsense
• MAVROS: https://dev.px4.io/en/ros/mavros_installation.html.

Installation

These steps contain the installation process, software dependencies and building instructions.

1. This is a ROS package, it assumes you have either ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04) installed, instructions can be found here. This is an example of installing ROS Noetic:

   gpg --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   gpg --export C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | sudo tee /usr/share/keyrings/ros.gpg > /dev/null
   sudo sh -c 'echo "deb [signed-by=/usr/share/keyrings/ros.gpg] https://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   sudo apt update
   sudo apt install ros-noetic-desktop-full
   echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
   source ~/.bashrc

2. Install librealsense (version 2.50.0) from here. It is the last version that supports ROS1. You can building librealsense SDK like this:

   sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev build-essential
   git clone -b v2.50.0 https://github.com/IntelRealSense/librealsense.git
   cd librealsense
   ./scripts/setup_udev_rules.sh
   mkdir build && cd build
   cmake ..
   make -j4
   sudo make install

3. Install all realsense ROS packages from here.

   sudo apt install ros-noetic-realsense2-*

4. Install MAVROS (version 0.29.0 or above) from here.

   sudo apt-get install ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
   wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
   sudo bash ./install_geographiclib_datasets.sh

5. Install catkin and create your catkin workspace directory.

   sudo apt install python3-catkin-tools
   mkdir -p ~/vio_ws/src

6. Clone this repository in your catkin workspace.

   cd ~/vio_ws/src
   git clone https://github.com/waterqun/VIO.git

7. Build the package:

   cd ~/vio_ws
   catkin build px4_realsense_bridge

8. Run the ROS node:

   source ~/vio_ws/devel/setup.bash
   roslaunch px4_realsense_bridge bridge_mavros.launch

Note This launch file starts the mavros node as well. Mavros needs to be running but if it is started elsewhere the basic launch file bridge.launch can be used. The file bridge_mavros_sitl.launch is only for using this node in combination with the PX4 SITL toolchain (Simulation). Instructions on how to setup the PX4 SITL toolchain can be found here.