tl_vision2

A ROS2 package to integrate the Vilota vision modules onto PX4

NOTE: Development was carried out on Ubuntu 22.04 Jammy and ROS2 Humble

1. Clone the repo using the following command

• To clone the development branch(master), use

  git clone --recurse-submodules https://github.com/navinkaviyarasu/tl_vision2.git

• To clone the installation branch, use

  git clone --branch <tag_name> --single-branch https://github.com/navinkaviyarasu/tl_vision2.git
  cd tl_vision2
  git submodule update --init --recursive

  NOTE: <tag_name> should be based on the PX4 version

2. Build the workspace

• Install the package dependencies

  cd tl_vision2
  rosdep install --from-paths src --ignore-src -y

• Build the package

  colcon build --symlink-install

3. Running the vio_bridge node

• To run just the vio_bridge node only

  ros2 run vision vio_bridge_px4

• To run just the vio_bridge node with namespace

  ros2 run package_name node_executable_name --ros-args -r __ns:=/my_desired_namespace
  
  ros2 run vision vio_bridge_px4 --ros-args -r __ns:=/my_desired_namespace

• To run the vio_bridge, Offboard control to fly an autonomous trajectory and RVIZ visualizer

  ros2 launch launcher vision.launch.py namespace:=my_desired_namespace

• To run Vicon for EKF Fusion and VIO for reference

  ros2 launch launcher vicon.launch.py namespace:=my_desired_namespace mocap_use:=1 vicon_object_name:my_object_name

  ros2 run vision vio_bridge_px4 --ros-args -r __ns:=/my_desired_namespace -p sensor_use:=2

4. Updating Submodules

• To update the submodules according to the latest updates or if you face any issues with the submodules, run the following command

  cd tl_vision2
  git submodule update --init --recursive

Dependencies:

• setuptools 59.6.0
• wheel 0.37.1
• pycapnp 1.3.0
• vrpn-mocap