PS: This is a UAV onboard version. For off-line testing, kindly check our main project here:

https://github.com/arclab-hku/SOPVO

Install (kinetic or melodic)

./install_sopvo_XXXX.sh

cd YOUR_WORK_SPACE

catkin_make

Run demo (D435i)

UAV platform: lattepanda + D435i. Please install realsense-ros first.

roslaunch sopvo sopvo_d435i.launch

roslaunch sopvo px4.launch

You should see the results below:

PS: the two axises shown in RVIZ are /mavros/vision_pose/pose (from sopvo) and /mavros/local_position/pose (from PX4 EKF), respectively. Please tuning your PX4 para, espectially EKF for better pose fusion performance.

Stabilize and rotate:

Maintainer:

Ran Duan, ArcLab at PolyU, HK, China [email protected] [email protected]