In the case of gazebo simulation, I ran it completely as tutorial video in Wiki. One thing I don't understand that:
In default, it don't use S-MSCKF VIO (because onboard_sensing = false in full_sim.launch). So which source the planners get the location from to create path and trajectory?
I make it used S-MSCKF VIO by setting onboard_sensing = true in full_sim.launch. S-MSCKF VIO published to /quadrotor/ukf_odom topic, BUT no one used it (that is, no subscriber):
And I don't see any differences between using or not S-MSCKF VIO in gazebo simulation. So in this case which role does S-MSCKF VIO play?
I supposed that:
It only is used in real robot. But with simulation, odometry is got from gazebo directly
It is as backbone for any SLAM (ex: SLOAM,...) to correct the drift.
Are my these insights right? PLS show me more explaination. Thanks so much!
XuRobotics
commented
1 week ago
In the case of gazebo simulation, I ran it completely as tutorial video in Wiki. One thing I don't understand that: In default, it don't use S-MSCKF VIO (because onboard_sensing = false in full_sim.launch). So which source the planners get the location from to create path and trajectory? I make it used S-MSCKF VIO by setting onboard_sensing = true in full_sim.launch. S-MSCKF VIO published to /quadrotor/ukf_odom topic, BUT no one used it (that is, no subscriber):
And I don't see any differences between using or not S-MSCKF VIO in gazebo simulation. So in this case which role does S-MSCKF VIO play? I supposed that:
Are my these insights right? PLS show me more explaination. Thanks so much!