Additional Packages - ethz-asl/mav_dji_ros_interface GitHub Wiki

This page describes to install additional packages for use with the DJI ROS SDK framework.

ROVIO

The ROVIO installation wiki provides detailed instructions on how to set-up our visual-inertial odometry framework. For reference, we provide the commends used for cloning and building:

$cd ~/indigo_catkin_ws/src
$git clone --recursive https://github.com/ethz-asl/rovio -b fix/MalfunctioningPoseUpdate
$cd rovio
$git reset --hard 230ae42c89014c911b88d0510b7334db2ee7ad65
$catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release

To verify that ROVIO is running properly, you can run the command below in a separate terminal:

$roslaunch realsense_ros/launch/realsense_rovio_test.launch

The rviz visualization tool shows the estimated state as shown:

Calibration instructions for ROVIO can be found on this page.

node_manager (recommended)

The node manager package provides easy tools for monitoring topics and running nodes. It can be installed directly:

$sudo apt-get install ros-indigo-multimaster-fkie ros-indigo-multimaster-msgs-fkie
$node_manager

The following interface should appear:

More information can be found in the package documentation.