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VINS—fusion
输入bash xtdrone_run_vio.sh报错
[rospack] Error: package ‘vins’ not found
RLException: [vins_rviz.launch] is neither a launch file in package [vins] nor is [vins] a launch file name
The traceback for the exception was written to the log file
或者
[ WARN] [1682641004.295278525]: config_file dosen’t exist; wrong config_file path
[FATAL] [1682641004.296496048]: BREAKPOINT HIT
file = /home/khs/control/ROS/planner/planner_ws/src/VINS-Fusion/vins_estimator/src/estimator/parameters.cpp
line=71
原因
【1】bashrc中没有添加工作空间路径
【2】需要修改xtdrone_run_vio.sh文件。因为打开此.s文件,可以看到他默认写的工作空间为~/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl。需要改成你对应的工作空间
成功允许入bash xtdrone_run_vio.sh之后没有图像
原因 没有修改PX4飞控EKF配置
GPS used
#param set EKF2_AID_MASK 1
# Vision used and GPS denied
param set EKF2_AID_MASK 24
# Barometer used for hight measurement
#param set EKF2_HGT_MODE 0
# Barometer denied and vision used for hight measurement
param set EKF2_HGT_MODE 3
注意!!!!修改完之后
如果按照1.11版本的方法修改则需要重新编译。
XTdrone waiting for image and imu 。VIO无法收到双目相机的数据
输入:
cd ~/.gazebo/models/
rm -r stereo_camera/ 3d_lidar/ 3d_gpu_lidar/ hokuyo_lidar/
然后
cd ~/PX4_Firmware
make px4_sitl_default gazebo
仿真出现 FCU: Preflight Fail: Accel #0 uncalibrated等错误
rm ~/.ros/eeprom/parameters*
rm -rf ~/.ros/sitl*