XTDrone
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UAV Simulation Platform based on PX4, ROS and Gazebo
![bffe8824e0130df7e24aa73487d6abf4](https://user-images.githubusercontent.com/114891850/229350782-53ff5fc6-88a5-4d07-8868-0a827563db98.png) 无人机实际上已经降落了但是rviz里面还在转,好神奇
如下图,我将launch文件中的iris_stereo_camera换成iris_realsense_camera后, ![bcc72fc560f6edb630155a95c37b1065](https://user-images.githubusercontent.com/114891850/228412266-19fd1859-8a83-4520-b084-d57d54430512.png) 在跑vio是可以的但是这里就找不到图像了。 ![b2fe2d5180169effaa3cedc51a9eb20f](https://user-images.githubusercontent.com/114891850/228412371-dae6fe53-4d97-4c18-a6de-588808d6d4e5.png) 然后终端部分是: ![5ea4e3e0854c7e5f400a691d41cb0a98](https://user-images.githubusercontent.com/114891850/228412470-23d72d6c-29e0-4b36-962b-039415dc2046.png) [ERROR] [1680057241.818750807, 2898.005000000]: PluginlibFactory: The plugin for class 'octomap_rviz_plugin/ColorOccupancyGrid' failed to load. Error: According to the loaded plugin descriptions the class octomap_rviz_plugin/ColorOccupancyGrid with base...
用vins-fuison和ego跑三维路径规划,地图是indoor4;先是从起始点每隔一小段给一个目标点,让无人机走过拐角,同时rviz显示这段路的点云信息,然后再把目标点设在之前的起始点,规划的路径(红线)居然是直接穿过转角点云的,这是哪出问题了? ![Screenshot from 2023-03-23 15-09-06](https://user-images.githubusercontent.com/53935505/227130784-2b194690-724f-41a9-adbd-af86c6a7d363.png) ![Screenshot from 2023-03-23 15-25-28](https://user-images.githubusercontent.com/53935505/227133186-aa126472-27f7-4d0d-a09b-0afdb9bfe411.png)
您好!我想请问一下为什么运行vins的d435i示例的同时运行rtabmap_vins.launch(odemetry换成vins),建图没有拼接到一起,也就是在rviz里点云没有融合到一起?还有就是vins输出的frame_id是world,而文件里的frame_id是camera_link,这应该怎么改? ps:下面是我运行roslaunch vins rtabmap_vins.launch报的warning,这应该怎么解决? ![输入图片说明](https://foruda.gitee.com/images/1678862428202434204/a5cff1ec_12490243.png "2023-03-15 12-31-02 的屏幕截图.png") ps:下面是rtabmap_vins.launch文件的修改 ![输入图片说明](https://foruda.gitee.com/images/1678862494925506953/3d2552f7_12490243.png "2023-03-15 14-41-22 的屏幕截图.png")
[ERROR] [1671709007.982657462, 2009.169000000]: Depth Lost! EMERGENCY_STOP roslaunch ego_planner single_uav.launch 启动这个命令以后跑一段路程 报以上错误
这错误排查了我好久…… 正常ROS自己装的gazebo打开urdf模型是好的,但我按教程删除了gazebo_ros包编译了你们的之后就打开urdf模型出错了 [robot_1/spawn_urdf-8] process has died [pid 25248, exit code 1, cmd /home/cui/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -urdf -model robot_1 -x -3.5 -y 3.5 -z 0.0 -Y 0.0 -param robot_description __name:=spawn_urdf __log:=/home/cui/.ros/log/5ce78aa0-54e8-11ed-abd5-0013ef5f1159/robot_1-spawn_urdf-8.log]. from tf.transformations...
[gazebo-2] process has died [pid 3850, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/zdk/PX4_Firmware/Tools/sitl_gazebo/worlds/indoor1.world __name:=gazebo __log:=/home/zdk/.ros/log/01fcf3ec-53b1-11ed-bc97-d8bbc19da8dd/gazebo-2.log]. log file: /home/zdk/.ros/log/01fcf3ec-53b1-11ed-bc97-d8bbc19da8dd/gazebo-2*.log Aborted (core dumped) [gazebo_gui-3] process has died [pid 3852, exit code...
第一个问题:运行indoor1.launch后i,/iris_0/stereo_camera/right/image_raw、/iris_0/stereo_camera/right/image_raw、/iris_0/imu_gazebo三个话题都有数据, 但是vins相关的话题,/vins_estimator/image_track、/vins_estimator/camera_pose都没有数据输出,rviz图像位置不显示,EKF2已修改为视觉导航模式,因为vins无法输出位姿,因此解锁飞机时没有反应。请问这是什么问题? 以下是相关消息数据: ![image](https://github.com/robin-shaun/XTDrone/assets/36888758/9b96001c-eb06-4575-b77c-d76ae55cb711) ![image](https://github.com/robin-shaun/XTDrone/assets/36888758/8c49b7a6-2316-446a-9af4-1f5a0b4165de) ![image](https://github.com/robin-shaun/XTDrone/assets/36888758/a0c758f3-abf5-4fa1-8dec-f2ae30e6b704) ![image](https://github.com/robin-shaun/XTDrone/assets/36888758/436167f9-58bb-4628-85ad-37ee8d1e9593) 仿真环境与vins运行窗口为 ![image](https://github.com/robin-shaun/XTDrone/assets/36888758/844ad328-41d0-4ad3-9663-fe192217781a) `ssz@ssz-G5-5500:~/WorkSpace/Auto-Uav/PX4_Firmware$ roslaunch px4 indoor1.launch ... logging to /home/ssz/.ros/log/b94d2e08-eb23-11ee-8e4a-f5e9abdcc60b/roslaunch-ssz-G5-5500-3418492.log Checking log directory for disk usage. This may take a while. Press Ctrl-C...
在执行 cd ~/catkin_ws bash scripts/xtdrone_run_vio.sh 后,rviz里面没有点云数据 ![微信图片_20240519165855](https://github.com/robin-shaun/XTDrone/assets/30899121/3c00dc3e-913b-4c54-a337-097f0987430d)
首先开启固定翼仿真 ```cpp roslaunch px4 outdoor2.launch ``` 之后运行offboard节点,以下是我的offboard节点代码 ```cpp #include #include #include #include #include mavros_msgs::State current_state; void state_cb(const mavros_msgs::State::ConstPtr& msg){ current_state = *msg; } int main(int argc, char **argv){ ros::init(argc, argv,...