Overview of nodes

Launch files in src/spark_softdrone/launch

robot_state_publisher.launch.py

Loads the drone mesh and starts the ROS2 Robot state publisher

ros2 launch spark_softdrone robot_state_publisher.launch.py

Nodes in src/spark_softdrone/src/

t265_node.cpp

Interfaces the T265 using librealsense, publishes to topics rs_t265/odom and rs_t265/imu

ros2 run spark_softdrone t265_node

t265_to_map_tf_publisher.cpp

Looks up transform from nav_cam_link to base_link and publishes that same TF from odom_frame to map at init.

ros2 run spark_softdrone t265_to_map_tf_publisher

t265_odom_to_mavros_bridge.cpp

Subscribes to T265 odom topics, computes coordinates of base_link by using T265 data and publishes pose of base_link to MAVROS (which will in turn send pose data to Pixhawk)

ros2 run spark_softdrone t265_odom_to_mavros_bridge

px4_local_position_tf_broadcaster.cpp

Subscribes to /mavros/local_position/pose i.e. localization data from Pixhawk, and publishes data as a TF between base_link and map

ros2 run spark_softdrone px4_local_position_tf_broadcaster