1. Ardupilot與T265配置
1.1. 介紹
在英特爾RealSense追蹤相機T265是一種智能相機，它使用專用的V-SLAM 22 （視覺慣性同步定位與地圖）技術，將數據從相機和慣性測量單元（IMU）相結合，跟蹤攝像頭的周圍未知的空間位置GPS可能不可用的地方。該軟件使用所有這些數據來構建並不斷更新環境和設備位置的地圖，並保持較高的准確性
1.2. 系統要求
在Windows和Linux上，通過librealsense支持T265。根據您對T265的需求，配套計算機應具有USB2或USB3：
- 對於姿勢（xyz位置和方向）數據：任何帶有USB2的板就足夠了。
- 對於魚眼圖像流：需要USB3。
對於定位和導航用例，我們需要捕獲姿態數據並將其發送到飛行控制器進行定位。一個系統包括：
- 樹莓派3B型與16GB微型SD卡
- 運行Ubuntu MATE 16.04 LTS 36
硬件要求
- 樹莓派3B+
- 16G高速存儲卡
- 英特爾追蹤相機T265
- 能穩定懸停的無人機
- Pixhawk硬件
軟件要求
樹莓派：
- ubuntu16.04meta
- ROS
- librealsense（T265驅動）
- realsense-ros （與ROS協同的T265驅動）
1.3. 系統總體框架
1.4. 環境配置
1.4.1. 安裝ROS
設置安裝源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
設置密匙
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
更新軟件包
sudo apt update
安裝ros-kinetic
sudo apt-get install ros-kinetic-desktop-full
sudo apt-get install ros-kinetic-desktop
sudo apt-get install ros-kinetic-ros-base
初始化環境
sudo rosdep init
rosdep update
更新bash
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
安裝開發依賴包
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
1.4.2. 安裝MAVROS
Instructions for installing MAVROS can be found here but in short involve running the following command
sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
chmod a+x install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh
For ease of use on a desktop computer, please also install RQT
sudo apt-get install ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-rqt-robot-plugins
We recommend using caktin_tools instead of the default catkin_make as it is more powerful
sudo apt-get install python-catkin-tools
1.4.3. 安裝librealsense
1.4.4. 安裝realsense-ros
1.4.5. T256連接樹莓派
roslaunch mavros apm.launch fcu_url:=/dev/ttyACM0:57600
1.4.6. 啟動攝像頭
There are 3 nodes running in this setup. Launch in 3 separated terminals on RPi:
T265 node:
roslaunch realsense2_camera rs_t265.launch
The topic /camera/odom/sample/ and /tf should be published at 200Hz.
MAVROS node: (with fcu_url and other parameters in apm.launch modified accordingly).
roslaunch mavros apm.launch fcu_url:=/dev/ttyAMA0:921600
rostopic echo /mavros/state should show that FCU is connected.
rostopic echo /mavros/vision_pose/pose is not published
vision_to_mavros node:
roslaunch vision_to_mavros t265_tf_to_mavros.launch
rostopic echo /mavros/vision_pose/pose should now show pose data from the T265.
rostopic hz /mavros/vision_pose/pose should show that the topic is being published at 30Hz