Setup MoViNAV

See Setup Instructions

Launch

Start the simulation

roslaunch px4 indoor1-depth.launch

Start VINS-Fusion

source ~/catkin_ws/devel/setup.bash
bash ~/catkin_ws/scripts/xtdrone_run_vio.sh

To start MoViNav,

roslaunch monodepth depth.launch

To start MoViNav with octomap,

roslaunch monodepth map.launch

Control Manually

Establish a connection to the drone

cd ~/XTDrone/communication
python multirotor_communication.py iris 0 

Use keyboard to control the drone

cd ~/XTDrone/control/keyboard
python multirotor_keyboard_control.py iris 1 vel

Take off

To take off press the 'i' key util upwards vel is higher that 0.3. Then press 'b' followed by 't' to takeoff. Press 'k' to hover.

Use Ego Planner

Change coordinate system direction of camera pose

python ~/XTDrone/motion_planning/3d/ego_transfer.py iris 0

Start rviz

rviz -d ~/XTDrone/motion_planning/3d/ego_rviz.rviz

Start ego_planner

roslaunch ego_planner single_uav.launch 

Troubleshooting

Build space was previously built by catkin build / catkin_make.

catkin clean