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hengli / vmav-ros-pkg

ROS packages for vision-based MAVs.
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Launch file or nodes to run? #1

Closed y22ma closed 9 years ago

y22ma commented 9 years ago

Hey guys,

Is there anyway you could put out a description of what nodes should be launched for this package for sparse and dense slam purposes?

I can take this information and generate a pull request for launchfiles.

Thanks

hengli commented 9 years ago

This description is specific to any AscTec platform with a VRmagic D3 multi-camera system, and will not work on other platforms.

These are the nodes needed to run sparse SLAM: pkg="asctec_hl_interface" type="hl_node" pkg="vrmagic_device" type="vrmagic_device_node" pkg="gcam_slam" type="gcam_slam_node"

There is no implementation for dense SLAM.

y22ma commented 9 years ago

Ah. I'm actually using a pair of IDS camera with this stack. Had to rip out the VR magic and asctec dependencies, but stereo_vo is working quite well now. Will try running gcam_slam_node with this setup.