Ubunutu18.04 ROS melodic 无人机 XTDrone PX4 Vins-Fuison 运行配置

一、PX4飞控EKF配置

PX4默认使用的EKF配置为融合GPS的水平位置与气压计高度。如果我们想使用视觉定位，就需要把修改配置文件。让EKF融合来自mavros/vision_pose/pose的数据

1.1修改rcS配置文件

gedit ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/rcS

?通过注释来修改不同的参数

	# GPS used
	#param set EKF2_AID_MASK 1
	# Vision used and GPS denied
	param set EKF2_AID_MASK 24

	# Barometer used for hight measurement
	#param set EKF2_HGT_MODE 0
	# Barometer denied and vision used for hight measurement
	param set EKF2_HGT_MODE 3

1.2删除参数文件

重启仿真前，需要删除上一次记录在虚拟eeprom中的参数文件，否则仿真程序会读取该参数文件，导致本次rcS的修改不能生效

rm ~/.ros/eeprom/parameters*
rm -rf ~/.ros/sitl*

二、编译VINS-Fusion?

2.1安装ceres

安装依赖：

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

下载编译ceres1.14.0

wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar -zxvf ceres-solver-1.14.0.tar.gz 
cd ceres-solver-1.14.0/
mkdir build
cd build/
cmake ..
make
sudo make install

2.2编译vins-fusion

cp -r ~/XTDrone/sensing/slam/vio/VINS-Fusion ~/catkin_ws/src/
mkdir ~/catkin_ws/scripts/
cp ~/XTDrone/sensing/slam/vio/xtdrone_run_vio.sh ~/catkin_ws/scripts/
cd ~/catkin_ws
catkin build

三、启动仿真

3.1 打开仿真环境

roslaunch px4 indoor1.launch

3.2运行vins-fusion?

cd ~/catkin_ws
bash scripts/xtdrone_run_vio.sh

3.3修改话题

由于VINS-Fusion发布的是Odometry类型的话题，我们要将其对应转为PX4所需的话题

cd ~/XTDrone/sensing/slam/vio
python vins_transfer.py iris 0

3.4建立通信

然后建立通信，键盘控制起飞即可

cd ~/XTDrone/communication
python multirotor_communication.py iris 0 

cd ~/XTDrone/control/keyboard
python multirotor_keyboard_control.py iris 1 vel

效果：