Make VISLAM work with PX4#12

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RomanBapst wants to merge 62 commits into

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RomanBapst:pr-vision_px4

Commits on May 28, 2018

Updated the VISLAM example for mv_1.0.2 release

rkintada
authored and
RomanBapst
committed
Updated the README.md file to add the specifics for mv 1.0.2 release

rkintada
authored and
RomanBapst
committed
Minor Formatting update in the README.md file.

rkintada
authored and
RomanBapst
committed
Removed a section that is not needed for mv 1.0.2 release.

rkintada
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RomanBapst
committed
Changed package name

potaito
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RomanBapst
committed
Removed IMUManager dependency completely - still compiling

potaito
authored and
RomanBapst
committed
Temporarily removed tests from Cmake and fixed a missing include

potaito
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RomanBapst
committed
Now using imu ros messages for Vislam - compiling, but untested

potaito
authored and
RomanBapst
committed
Added instructions for mavros

potaito
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RomanBapst
committed
Added launch file for mavros + vislam

potaito
authored and
RomanBapst
committed
Improved (un-)subscribing to mavros imu topic

potaito
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RomanBapst
committed
Output formatting

potaito
authored and
RomanBapst
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VISLAM working - Converting IMU messages from ENU to NED frame prior to feeding to VISLAM

potaito
authored and
RomanBapst
committed
Added logging for changes in mv tracking state

potaito
authored and
RomanBapst
committed
Changed mavlink port

potaito
authored and
RomanBapst
committed
Fixed IMU coordinate frame transformation for vislam

potaito
authored and
RomanBapst
committed
Renamed project to snapdragon_mavros_vislam

potaito
authored and
RomanBapst
committed
Fixed launch file

potaito
authored and
RomanBapst
committed
Readme update

potaito
authored and
RomanBapst
committed
Readme update

potaito
authored and
RomanBapst
committed
Fixed bug with time stamp conversion

potaito
authored and
RomanBapst
committed
Removed the YZ inversion and corrected the vislam IMU-CAM transformation instead

potaito
authored and
RomanBapst
committed
Added publishers for the estimated camera-imu translation and rotation

potaito
authored and
RomanBapst
committed
Added PoseWithCovarianceStamped publisher for mavros

potaito
authored and
RomanBapst
committed
Comment and formatting

potaito
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RomanBapst
committed
Added topic remapping to feed mavros with vislam odometry

potaito
authored and
RomanBapst
committed
Added px4 configurations files (mainapp.conf and px4.conf)

potaito
authored and
RomanBapst
committed
Added changelog

potaito
authored and
RomanBapst
committed
Added parameter for ekf2 using vision as main source for height estimation

potaito
authored and
RomanBapst
committed
Trying to get LPE to work

potaito
authored and
RomanBapst
committed
Added land detector and rc receiver back to px4.config

potaito
authored and
RomanBapst
committed
Reduced covariance on ekf2 vision

potaito
authored and
RomanBapst
committed
Fusing vislam pose into LPE seems to be working

potaito
authored and
RomanBapst
committed
Moved ekf2 px4 configuration files into the corresponding subdir

potaito
authored and
RomanBapst
committed
Renamed px4_confs directory

potaito
authored and
RomanBapst
committed
Changelog

potaito
authored and
RomanBapst
committed
Launch file edit

potaito
authored and
RomanBapst
committed
Removed unused imu manager

potaito
authored and
RomanBapst
committed
Readme update

potaito
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RomanBapst
committed
Minor changes in readme etc.

potaito
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RomanBapst
committed
Added mavros tested version info

potaito
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RomanBapst
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fix in mainapp.conf

potaito
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RomanBapst
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Added offset computation. Now camera and imu timestamps carry the REALTIME timestamp, which conforms with ros standards

potaito
authored and
RomanBapst
committed
Use port 14555 for MavROS and mode magic (no other mavlink streams)

ChristophTobler
authored and
RomanBapst
committed
use mavlink port 14550 for QGC

ChristophTobler
authored and
RomanBapst
committed
Use imu-cam translation that the algorithm converges to

ChristophTobler
authored and
RomanBapst
committed
beautify

ChristophTobler
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RomanBapst
committed
mavros launch: use default px4 mavros config and remap to mavros/odometry/odom

ChristophTobler
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RomanBapst
committed
remove unused pos_cov msg

ChristophTobler
authored and
RomanBapst
committed
rotate pose to ENU for mavros

ChristophTobler
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RomanBapst
committed
update mainapp.conf for ekf2

ChristophTobler
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RomanBapst
committed
remove ekf2 px4.config -> use default PX4/Firmware

ChristophTobler
authored and
RomanBapst
committed
use front-left-up output and add static transforms for mavros

ChristophTobler
authored and
RomanBapst
committed
replace static transform in code with node in launch file

ChristophTobler
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RomanBapst
committed
update readme

ChristophTobler
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RomanBapst
committed
mainapp.config: wait for muorb to start before setting params

ChristophTobler
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RomanBapst
committed
provide num tracked features instead of bool if updated

ChristophTobler
authored and
RomanBapst
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mark odom_msg invalid by providing large covariance

ChristophTobler
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RomanBapst
committed
update px4 configs

ChristophTobler
authored and
RomanBapst
committed
Divide RAW_IMU by 1000

Nico van Duijn
authored and
RomanBapst
committed
removed scale on accel, new versions of mavros already take it into account
RomanBapst
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mainapp.config: replace RAW_IMU with SCALED_IMU which is used in PX4/master
RomanBapst
committed