Comments (6)
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"/>
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Oh,I have solved that problem,the topic which I subscribe to is error,It should be /vins_fusion instead of /vins_estimator.
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ok,It should be ; however, it still to convert messsge format to geometry_msgs/Posestamped ,just like:odom2pose
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from racer.
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
from racer.
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
from racer.
Related Issues (19)
- Real World Deployment
- License for Open Source usage
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- 如何真机部署 仿真中许多的报错与未建图
- Why does this error occur during compilation HOT 1
- UAV get stuck after running a short time when launch the Quick Start demo HOT 3
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- An issue with computer less than 8 core
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