荘の学習メモ

1. Upgrade firmware to px4 v1.8.1 (1) Download release version directly. [1] (2) Copy the firmware to /etc/aerofc/px4/ and do the update cd /etc/aerofc/px4/ sudo aerofc-update.sh aerofc-v1-default.px4 (3) Check firmware version sudo aero-get-version.py 2. Parameter setting using QGroundControl (presetting for connecting to drone is needed. [2] ) (1) EKF2_AID_MASK: 24 (2) EKF2_HGT_MODE: Vision (or Barometric pressure) (3) SYS_COMPANION: 921600 ( 57600 for TX2 ) *Reboot the drone after modifying parameters 3. Download example [3] git clone https://github.com/rijesha/mavlink-interface cd mavlink-interface git submodule init git submodule update 4. Connect the drone with a UART cable and check serial port name ls /dev/ttyUSB* 5. Modify port name and baudrate in main.cpp #define PORT "/dev/ttyUSB0" #define BAUD 921600 ( 57600 for TX2 ) 6. Build and then run the project make  sudo ./position_controller 7. Result As shown in the following

1. Flashing the Intel AERO [1][2] Key: (1) Erase Yocto and use all space for Ubuntu (2) Press "shift" + "ESC" for accessing to the GRUB screen (if keyboard and mouse are frozen...) 2. Install RealSense SDK [2] 3. Install ROS [3] 4. Install RTAB-Map [4] 5. Install ORBSLAM2 (1) Pangolin (2) OpenCV (3) Eigen3 6. Make catkin workspace ▪ mkdir -p ~/catkin_ws/src ▪ cd ~/catkin_ws/src ▪ catkin_init_workspace ▪ cd ~/catkin_ws/ ▪ catkin_make 7. Install ORBSLAM2 & ROS Nodes [4] Key: Copy necessary library to correct directory. (Solution for installing ROS Nodes) [5] To do list: (1) Control the intel AERO screen remotely. (like VNC) (2) Completely understand the principle of ORBSLAM2 (3) Send SLAM information to flight controller (mavros) 8. Get camera parameters and save them in a .yaml file [4] 9. Run ORBSLAM2 roscd realsense_camera roslaunch realsense_camera r200_nodelet_rgbd.launch & rosrun ORB_SLAM2 RGBD {path}/ORB_SLAM2/Voc