1.使用改进过的ORB_SLAM3定位，实现GPU加速，与原算法相比速度更快，鲁棒性更强，精度更高。与原算法相比各部分提升性能如下表所示
+-----------------------------+----------------------+---------------------+-----------------------------+-----------------------------+
| | pc Without CUDA (ms) | pc With CUDA (ms) | Jetson NX Without CUDA (ms) | Jetson NX with CUDA (ms) |
+-----------------------------+----------------------+---------------------+-----------------------------+-----------------------------+
| ORB Extraction | 23.34244±4.96281 | 1.61836 | 50.62526±5.86117 | 10 |
| Stereo Matching | 5.72343±0.97511 | 2.34062 | 13.28446±1.98780 | 2.47 |
| Pose Prediction | 3.58646±1.62789 | | 8.82931±3.17531 | [待测] |
| LM Track | 7.14140±6.77893 | | 18.01320±11.69190 | [待测] |
| New KF decision | 0.44474±2.24553 | | 1.42868±4.59653 | [待测] |
| Total Tracking | 44.86070±11.98428 | 4.72937 | 100.92199±19.73700 | 33 |
+-----------------------------+----------------------+---------------------+-----------------------------+-----------------------------+
pc端与jetson nx上处理速度都有较大提升，且精度不降。
#1. 目前只测试双目模式，后续测试rgbd模式以及双目VIO模式。
#2. 关闭所有可视化窗口，所有信息都可以通过rviz查看。
#3. 与原始算法对比如下视频所示。GPU加速提取特征点
sudo apt install ros-melodic-desktop-full
#或者可以选择不安装gazebo
sudo apt install ros-melodic-desktop
sudo apt-get remove ros-melodic-gazebo*
sudo apt-get remove ros-melodic-gazebo9*
sudo apt remove --purge gazebo*
sudo apt remove --purge gazebo9*
sudo apt remove libgazebo9*
sudo apt remove libgazebo*
sudo apt install ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev python-pip python3-pip gawk
pip2 install pandas jinja2 pyserial cerberus pyulog==0.7.0 numpy toml pyquaternion empy pyyaml
pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse kconfiglib jsonschema future
-
Setup your computer to accept software from packages.osrfoundation.org.
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' -
Setup keys
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - -
Install Gazebo.
sudo apt-get update sudo apt-get install gazebo11 # For developers that work on top of Gazebo, one extra package sudo apt-get install libgazebo11-dev -
Check your installation
gazebo -
install gazebo-ros
sudo apt-get install ros-melodic-moveit-msgs ros-melodic-object-recognition-msgs ros-melodic-octomap-msgs ros-melodic-camera-info-manager ros-melodic-control-toolbox ros-melodic-polled-camera ros-melodic-controller-manager ros-melodic-transmission-interface ros-melodic-joint-limits-interfaccd ~/catkin_ws/src git clone -b melodic-devel https://github.com/ros-simulation/gazebo_ros_pkgs.git cd ~/catkin_ws catkin build -
test gazebo-ros
roscore source ~/catkin_ws/devel/setup.bash rosrun gazebo_ros gazebo
sudo apt install ros-melodic-mavros ros-melodic-mavros-extras # for ros-melodic
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh #这步需要装一段时间
git clone https://github.com/PX4/PX4-Autopilot.git
mv PX4-Autopilot PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.13.2
git submodule update --init --recursive
make px4_sitl_default gazebo
增加环境变量
source ~/catkin_ws/devel/setup.bash
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo
测试
cd ~/PX4_Firmware
roslaunch px4 mavros_posix_sitl.launch
#检查与mavros通信
rostopic echo /mavros/state
git clone https://gitee.com/robin_shaun/XTDrone.git
cd XTDrone
git checkout 1_13_2
git submodule update --init --recursive
# 修改启动脚本文件
cp sitl_config/init.d-posix/* ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
# 添加launch文件
cp -r sitl_config/launch/* ~/PX4_Firmware/launch/
# 添加世界文件
cp sitl_config/worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds/
# 修改部分插件
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.hh ~/PX4_Firmware/Tools/sitl_gazebo/include
cp sitl_config/gazebo_plugin/wind_plugin/gazebo_ros_wind_plugin_xtdrone.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src
cp sitl_config/gazebo_plugin/wind_plugin/gazebo_ros_wind_plugin_xtdrone.h ~/PX4_Firmware/Tools/sitl_gazebo/include
# 修改CMakeLists.txt
cp sitl_config/CMakeLists.txt ~/PX4_Firmware/Tools/sitl_gazebo
# 修改部分模型文件
cp -r sitl_config/models/* ~/PX4_Firmware/Tools/sitl_gazebo/models/
# 替换同名文件
cd ~/.gazebo/models/
rm -r stereo_camera/ 3d_lidar/ 3d_gpu_lidar/ hokuyo_lidar/
再次编译
cd ~/PX4_Firmware
make px4_sitl_default gazebo
用键盘控制无人机
#terminal1
cd ~/PX4_Firmware
roslaunch px4 indoor1.launch
#terminal2
cd ~/XTDrone/communication/
python multirotor_communication.py iris 0
#terminal3
cd ~/XTDrone/communication/
python multirotor_communication.py iris 0
sudo apt-get install libarmadillo-dev
git clone https://github.com/ZJU-FAST-Lab/ego-planner.git
cd ego-planner
catkin_make
source devel/setup.bash
roslaunch ego_planner simple_run.launch
在ENU坐标系中：
- 东（East） 是 x 轴的正方向，指向东方。
- 北（North） 是 y 轴的正方向，指向北方。
- 天（Up） 是 z 轴的正方向，指向上方。
在NED坐标系中，正好相反：
- 北（North） 是 x 轴的正方向，指向北方。
- 东（East） 是 y 轴的正方向，指向东方。
- 地（Down） 是 z 轴的正方向，指向地面。
手动pub目标点 2D nav
rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: 'map'
pose:
position:
x: 0.1493370071054 # 替换成你想要的X坐标
y: -10.870341491699 # 替换成你想要的Y坐标
z: 1.05488955975
orientation:
x: 0.000467390511628
y: -0.00885925142265
z: 0.0222276578488
w: -0.999698717213" -r 10
#1.坐标系问题
需不需要使用机体坐标系
#2.定位鲁棒性问题
考虑使用双目VIO，特征很少情况下也能稳定跟踪
#3.VIO坐标系问题
如何给定正确的tf变换
#4.ego-planner的参数调优
#5.里程计话题中的线速度和角速度值对规划和导航的影响
#6.最大速度和最大加速度的设置
#6.深度图优化