ros2-sim-vslam

• download checkboard, default.sdf, gazebo_480 param
• overwrite default.sdf in world of px4_gz500, edit the path to your location of your checkboard
• use sim_mav_odom_launch.py

Update

Guide is behind the stella-vlsam, follow stella-vslam to build SLAM

• ros_gz : https://github.com/gazebosim/ros_gz/tree/humble

Commands

PX4-Autopilot$ make px4_sitl gz_x500_vision
ros2 launch sim_mav_odom_launch.py 
ros2 launch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

Camera Calibration

make px4_sitl gz_x500_vision
ros2 run ros_gz_image image_bridge /camera/image_raw
ros2 run camera_calibration cameracalibrator --size 6x6 --square 0.02 --ros-args -r image:=/camera/image_raw -p camera:=/camera

Recommended File structure

https://github.com/Jaeyoung-Lim/px4-offboard

Dependency: curl -sL "https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow" -o orb_vocab.fbow