[ VOXL ] Vision Odometery

 

 

VOXL Version

 

 

 

 

 

VOXL App packages version

 

 

Calibration 이후 각각의 경로에 아래 결과물들이 존재해야 한다.

etc/snav/calibration.stereo.xml home/root/.ros/camera_info/left.yaml home/root/.ros/camera_info/right.yaml etc/snav/calibration.downward.xml home/root/.ros/camera_info/downward.yaml

 

비전 서버를 실행한다.

/ # voxl-vision-px4 -o loading our own config file ================================================================= Parameters as loaded from config file: qgc_ip:                     192.168.219.182 en_localhost_mavlink_udp    1 en_secondary_qgc:           0 secondary_qgc_ip:           192.168.1.214 qgc_udp_port_number:        14550 localhost_udp_port_number:  14551 en_vio:                     1 en_voa:                     0 en_send_vio_to_qgc:         0 en_send_voa_to_qgc:         0 en_adsb:                    0 adsb_uart_bus:              7 adsb_uart_baudrate:         57600 px4_uart_bus:               5 px4_uart_baudrate:          921600 offboard_mode:              figure_eight follow_tag_id:              0 en_apriltag_fixed_frame:    1 fixed_frame_filter_len:     5 en_transform_mavlink_pos_setpoints_from_fixed_frame:1 ================================================================= loading extrinsics and apriltag external config files #0:     tag id:          0     name:            default_name     location:        fixed     size_m:            0.400     T_tag_wrt_fixed: 0.0  0.0  0.0      R_tag_to_fixed:  0.0 -1.0  0.0                       1.0  0.0  0.0                       0.0  0.0  1.0  #1:     tag id:          1     name:            default_name     location:        fixed     size_m:            0.400     T_tag_wrt_fixed: 0.0  0.0  0.0      R_tag_to_fixed:  0.0 -1.0  0.0                       1.0  0.0  0.0                       0.0  0.0  1.0  loaded in 2 fixed apriltags #0:     parent:                imu1     child:                 imu0     T_child_wrt_parent:   -0.048   0.037   0.002      RPY_parent_to_child:   0.0     0.0     0.0       R_child_to_parent:     1.000  -0.000   0.000                             0.000   1.000  -0.000                             0.000   0.000   1.000  #1:     parent:                imu0     child:                 tracking     T_child_wrt_parent:    0.065  -0.014   0.013      RPY_parent_to_child:   0.0    45.0    90.0       R_child_to_parent:     0.000  -0.707   0.707                             1.000   0.000  -0.000                            -0.000   0.707   0.707  #2:     parent:                imu1     child:                 tracking     T_child_wrt_parent:    0.017   0.015   0.013      RPY_parent_to_child:   0.0    45.0    90.0       R_child_to_parent:     0.000  -0.707   0.707                             1.000   0.000  -0.000                            -0.000   0.707   0.707  #3:     parent:                body     child:                 imu0     T_child_wrt_parent:    0.020   0.014  -0.008      RPY_parent_to_child:   0.0     0.0     0.0       R_child_to_parent:     1.000  -0.000   0.000                             0.000   1.000  -0.000                             0.000   0.000   1.000  #4:     parent:                body     child:                 imu1     T_child_wrt_parent:    0.068  -0.015  -0.008      RPY_parent_to_child:   0.0     0.0     0.0       R_child_to_parent:     1.000  -0.000   0.000                             0.000   1.000  -0.000                             0.000   0.000   1.000  #5:     parent:                body     child:                 stereo_l     T_child_wrt_parent:    0.100  -0.040   0.000      RPY_parent_to_child:   0.0    90.0    90.0       R_child_to_parent:     0.000  -0.000   1.000                             1.000   0.000  -0.000                            -0.000   1.000   0.000  #6:     parent:                body     child:                 tof     T_child_wrt_parent:    0.100   0.000   0.000      RPY_parent_to_child:   0.0    90.0    90.0       R_child_to_parent:     0.000  -0.000   1.000                             1.000   0.000  -0.000                            -0.000   1.000   0.000  #7:     parent:                body     child:                 ground     T_child_wrt_parent:    0.000   0.000   0.100      RPY_parent_to_child:   0.0     0.0     0.0       R_child_to_parent:     1.000  -0.000   0.000                             0.000   1.000  -0.000                             0.000   0.000   1.000  starting geometry module starting uart mavlink Successfully opened mavparser starting udp mavlink Adding manual QGC IP address to udp connection list: 192.168.219.182 Added new UDP connection to 192.168.219.182 starting px4 shell starting fixed pose input starting vio manager starting apriltag manager starting offboard figure eight Init complete, entering main loop Detected PX4 Mavlink SYSID 1 Connected to voxl-qvio-server done updating transforms to use imu: imu0 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00 -0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.06 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.06 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.06 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.06 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.06 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.06 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity:  0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 T_body_wrt_local:  0.07 -0.03 -0.12  RPY: -0.03  0.07  0.10  velocity: -0.00  0.00  0.00 . . .

 

 

호스트 PC에서 QGroundControl을 실행한다.

 

voxl-vision-px4가 실행되고 있기 때문에 호스트와는 WIFI로 바로 연결된다. 연결후 RC조종기에서 Position모드로 전환시 전환되어야 한다. Vision으로 Odometary데이터를 받지 못하는 경우에는 Position 모드로 전환되지 않고 Stable모드로 다시 돌아간다.