search

mzahana / jetson_vins_fusion_docker

Docker files and scripts to setup and run VINS-FUSION-gpu on NVIDIA jetson boards inside a docker container.
BSD 3-Clause "New" or "Revised" License
32 stars 4 forks source link

Using VINS_Fusion for OFFBOARD #4

Closed EhrazImam closed 2 years ago

EhrazImam commented 2 years ago

Hi @mzahana Thanks for this repo it help me alot...

I am trying to use OFFBOARD mode in Pixhawk 2.4.8(PX4 Firmware) using VINS_FUSION with D435i..

I'm getting two errors while doing mavsys mode -c OFFBOARD,in the terminal where i launched px4.launch I'm getting error saying UNSUPPORTED FCU and in the terminal where I'm writing mavsys mode -c OFFBOARD this command I'm getting Time out! error. Now the steps I'm doing is:- 1.) Launching the camera and the VINS_FUSION 2.) Launching the Fast planner 3.) Launching the px4.launch (roslaunch mavros px4.launch) 3.) Publishing the topic /mavros/setpoint_raw/local(frame id= map,x=0,y=0,z=2) 4.) Arming the drone

These steps are working perfectly but 5.) While changing the mode to OFFBOARD(mavsys mode -c OFFBOARD) I'm getting an error here.. drone is unable to go to OFFBOARD mode.. I'm also having some doubts:-

1.) Which parameters we've to change in px4 so that by drone will be able to take position inputs from odom? 2.) How I am gonna make PIXHAWK understand that the VINS is the Odometry data that it should work