1. Ardupilot与T265配置
1.1. 介绍
在英特尔RealSense追踪相机T265是一种智能相机，它使用专用的V-SLAM 22 （视觉惯性同步定位与地图）技术，将数据从相机和惯性测量单元（IMU）相结合，跟踪摄像头的周围未知的空间位置GPS可能不可用的地方。该软件使用所有这些数据来构建并不断更新环境和设备位置的地图，并保持较高的准确性
1.2. 系统要求
硬件要求
- 树莓派3B+
- 16G高速存储卡
- 英特尔追踪相机T265
- 能稳定悬停的无人机
- Pixhawk硬件
树莓派系统要求
- ubuntu16.04 meta
- ROS
- librealsense（T265驱动）
- realsense-ros （与ROS协同的T265驱动）
1.3. 系统总体框架
1.4. 环境配置
1.4.1. 安装ROS
设置安装源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
设置密匙
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
更新软件包
sudo apt update
安装ros-kinetic
sudo apt-get install ros-kinetic-desktop-full
初始化环境
sudo rosdep init
rosdep update
更新bash
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
安装开发依赖包
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
1.4.2. 安装MAVROS
Instructions for installing MAVROS can be found here but in short involve running the following command
sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
chmod a+x install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh
For ease of use on a desktop computer, please also install RQT
sudo apt-get install ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-rqt-robot-plugins
We recommend using caktin_tools instead of the default catkin_make as it is more powerful
sudo apt-get install python-catkin-tools
1.4.3. 安装librealsense
1.4.4. 安装realsense-ros
1.4.6. 启动摄像头
roslaunch realsense2_camera rs_t265.launch
roslaunch mavros apm.launch fcu_url:=/dev/ttyAMA0:921600
roslaunch vision_to_mavros t265_tf_to_mavros.launch
