Real World Experiments

[Joosoo1]

Thank you for your great work. Recently, I would like to deploy your algorithm on a real drone. Starting from exploring a single drone, let's take a look at the difficulty of real deployment, in order to guide my future research. How can I modify the launch file using Vins_ Fusion. Thank you

[peakfly]

Hello，have you solved the problem?I try to experiment in real world but it dosen't work properly.
The file is

<arg name="map_size_x_" value="$(arg map_size_x)"/>
<arg name="map_size_y_" value="$(arg map_size_y)"/>
<arg name="map_size_z_" value="$(arg map_size_z)"/>

<arg name="box_min_x" value="-10.0"/>
<arg name="box_min_y" value="-15.0"/>
<arg name="box_min_z" value=" 0.0"/>
<arg name="box_max_x" value="10.0"/>
<arg name="box_max_y" value="15.0"/>
<arg name="box_max_z" value=" 2.0"/>

<arg name="odometry_topic" value="$(arg odom_topic)"/>
<!-- sensor pose: transform of camera frame in the world frame -->
<arg name="sensor_pose_topic" value="/vins_estimator/camera_pose"/>
<!-- depth topic: depth image, 640x480 by default -->
<!-- cloud topic: point cloud measurement  -->
<!-- subscribe ONLY TO ONE of the two topics -->
<arg name="depth_topic" value="/camera/depth/image_rect_raw"/>
<arg name="cloud_topic" value="/pcl_render_node/nouse"/>

<!-- intrinsic params of the depth camera -->
<arg name="cx" value="324.166259765625"/>
<arg name="cy" value="237.71682739257812"/>
<arg name="fx" value="386.39691162109375"/>
<arg name="fy" value="386.39691162109375"/>
<!-- fx: 386.39691162109375 -->
<!-- fy: 386.39691162109375 -->
<!-- cx: 324.166259765625 -->
<!-- cy: 237.71682739257812 -->
<!-- maximum velocity and acceleration the drone will reach -->
<arg name="max_vel" value="2.0" />
<arg name="max_acc" value="2.0" />

<remap from="/odom_world" to="$(arg odom_topic)"/>
<param name="traj_server/time_forward" value="1.5" type="double"/>
<param name="traj_server/pub_traj_id" value="4" type="int"/>
<param name="traj_server/init_x" value="$(arg init_x)" type="double"/>
<param name="traj_server/init_y" value="$(arg init_y)" type="double"/>
<param name="traj_server/init_z" value="$(arg init_z)" type="double"/>

<param name="perception_utils/top_angle" value="0.56125" type="double"/>
<param name="perception_utils/left_angle" value="0.69222" type="double"/>
<param name="perception_utils/right_angle" value="0.68901" type="double"/>
<param name="perception_utils/max_dist" value="4.5" type="double"/>
<param name="perception_utils/vis_dist" value="1.0" type="double"/>

[peakfly]

Oh,I have solved that problem,the topic which I subscribe to is error,It should be /vins_fusion instead of /vins_estimator.

[Joosoo1]

ok，It should be ; however, it still to convert messsge format to geometry_msgs/Posestamped ，just like：odom2pose

[peakfly]

您的邮件已收到！谢谢！--------------------------------------------This is an automatic reply, confirming that your e-mail was received.Thank you

[Renaissnance]

Oh,I have solved that problem,the topic which I subscribe to is error,It should be /vins_fusion instead of /vins_estimator.

佬 你好， 请问一下是否有在真机上面进行部署这份工作 最经在做真机部署方面的工作 希望可以向您请教讨论

[Renaissnance]

ok，It should be ; however, it still to convert messsge format to geometry_msgs/Posestamped ，just like：odom2pose

佬 你好， 请问一下是否有在真机上面进行部署这份工作 最经在做真机部署方面的工作 希望可以向您请教讨论