px4_vslam
所属分类：C/C++基础
开发工具：C++
文件大小：0KB
下载次数：0
上传日期：2023-11-05 01:55:38
上 传 者：
sh-1993
说明： 通过DDS在Isaac ROS VSLAM和PX4之间架桥
(Bridge between Isaac ROS VSLAM and PX4 via DDS)
文件列表:
CMakeLists.txt (1578, 2023-12-12)
launch/ (0, 2023-12-12)
launch/vslam_realsense.launch.py (3545, 2023-12-12)
package.xml (909, 2023-12-12)
src/ (0, 2023-12-12)
src/vio_transform.cpp (5012, 2023-12-12)
## PX4 VIO using NVIDIA Isaac ROS Visual SLAM
Bridge node between [Isaac ROS Visual SLAM](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam)
and PX4 using the [PX4-ROS2 DDS Bridge](https://docs.px4.io/main/en/middleware/uxrce_dds.html)
| Subscribed Topics | Interface |
| --------- | --------- |
| `/visual_slam/tracking/odometry` | [`nav_msgs/Odometry`](https://github.com/ros2/common_interfaces/blob/humble/nav_msgs/msg/Odometry.msg) |
| Published Topics | Interface |
| --------- | --------- |
| `/fmu/in/vehicle_visual_odometry` | [`px4_msgs/VehicleOdometry`](https://github.com/PX4/px4_msgs/blob/main/msg/VehicleOdometry.msg) |
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