Steps for recording data for VIO analysis

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1. Ground truth: Optitrack system

(1) Calibration
(2) Set original point
(3) Attach reflective ball on the drone and put it in the view of cameras
(4) Create a rigid body of the drone

Published position is in the topic:  
/vrpn_client_node/<rigid body name>/pose

2. Image source: intel realsense r200

$ roscd realsense_camera/
$ cd launch
$ roslaunch r200_nodelet_rgbd.launch

Published images are in the topic:
/camera/rgb/image_raw 
/camera/depth/image_raw

3. IMU

$ roscd drone_mocap/
$ cd launch
$ roslaunch drone_mocap.launch

Published IMU datas are in the topic:
/mavros/imu/data_raw 
/mavros/imu/data

*Record: 
rosbag record /vrpn_client_node/intelRTF/pose /camera/rgb/image_raw /camera/d
epth/image_raw /mavros/imu/data_raw /mavros/imu/data

Reference:
[1] https://github.com/OsloMet1811/Digital-Twin/tree/master/drone_mocap
[2] https://github.com/intel-aero/meta-intel-aero/wiki/05-Autonomous-drone-programming-with-ROS

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圖片
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