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ZJU-FAST-Lab / ego-planner

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What localization method is used by the UAV #23

Closed shubham-shahh closed 2 years ago

shubham-shahh commented 2 years ago

Hi, I am unable to understand what localization algorithm is used by the UAVs in the swarm.

bigsuperZZZX commented 2 years ago

In real-world experiments, we use VINS to position our drones.

shubham-shahh commented 2 years ago

In real-world experiments, we use VINS to position our drones.

Thanks for the response. In the ego-swarm repo, The localization data is published by VINS or by the simulator?

USTfgaoaa commented 2 years ago

@shubham-shahh By VINS

shubham-shahh commented 2 years ago

@shubham-shahh By VINS

thanks for the response sir, but I am unable to find the VINS node that publishes the Visual odometry data in the ego-swarm repo

USTfgaoaa commented 2 years ago

@shubham-shahh You have to configure VINS by yourself. The ego-swarm repo only provides all necessities on the planning side (in simulation).

shubham-shahh commented 2 years ago

okay, but I was curious how is simulation receiving visual odometry in the ego-swarm repo.

thanks

USTfgaoaa commented 2 years ago

@shubham-shahh In the simulation, that's just a fake odometry msgs generated by the simulator.

shubham-shahh commented 2 years ago

@shubham-shahh In the simulation, that's just a fake odometry msgs generated by the simulator.

oh okay. thanks once again sir, for the info.

great work