无人机路径规划1：orbslam2+VIO

无人机路径规划1：orbslam2+VIO

安装XTDRONE平台

https://www.yuque.com/xtdrone/manual_cn/basic_config

ros基本操作

• ros中文版教程

http://wiki.ros.org/cn

• 运行python程序两种方法方式

python程序写在catkin-src-script-[package]-xx.py中

rosrun package xxx.py

python xxx.py

• linux找文件

sudo find -name indoor3.launch

PX4 编译ORBSLAM2

ORB SLAM2 编译&运行
https://blog.csdn.net/qq_28467367/article/details/92800446

编译报错
1、没有导入Linux库，在报错函数下导入
https://blog.csdn.net/Awesomewan/article/details/114441352
2、缺少eigen
https://blog.csdn.net/qq_24624539/article/details/103445015

师兄博客（成功）
https://blog.csdn.net/Hot_Ant/article/details/123700672

PX4 编译 视觉惯性里程计（VIO）

配置依赖

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev

https://github.com/ceres-solver/ceres-solver
cd ceres-solver
mkdir build
cd build
cmake ..
make -j3 #减少线程数量，防止死机
sudo make install

VINS-Fusion编译

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_make #或catkin build，取决于您的编译工具

解决catkin卡死

gedit ~/.bashrc
export ROS_PARALLEL_JOBS=-j3
source ~/.bashrc

VINS-Fusion仿真

VINS-Fusion+RTABMap的三维稠密重建