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MRASL
  • What is Gitbook
  • VICON
    • Overview
    • Pre-setup
    • Calibration
    • Vicon object
    • Access to Vicon data
      • Vicon - ROS
  • Firefly hexarotor UAV
    • Overview
    • Pre-setup
    • MSF filter
    • Demo
  • OTHERS
    • Visual odometry
      • Traditional VO
      • Deep learning VO
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  • Check MSF node
  • Init the filter

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  1. Firefly hexarotor UAV

MSF filter

PreviousPre-setupNextDemo

Last updated 3 years ago

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Check MSF node

You must finish the task.

Open a rqt GUI in a remote computer terminal by typing $ rqtand verify running nodes

  • Menu Plugins/Topics/Topic Monitor: check filter input/output data

    • Filter input from Vicon: topic /firefly_blue/vrpn_client/raw_transform, 250Hz

    • Filter input from Firefly: topic /fcu/imu, 100Hz

    • Filter output: msf_core/pose or msf_core/odometry, 100Hz

  • Menu Plugins/Visualization/Plot: plot the position, velocity, etc

  • Menu Plugins/Introspection/Node Graph

Init the filter

  • Menu Plugins/Configuration/Dynamic Reconfigure

    • fcu/fcu: chose POSCTRL_OFF for position_control and STATE_EST_OFF for state_estimation

    • pose_sensor/pose_sensor: click on core_init_filter

  • Move the drone and check

After init the filter, the /pose_sensor node has to show a message (OBC terminal) as: initial measurement pos:[ 0.158259 0.0267092 0.754158] orientation: [0.998, 0.00129, 0.025, 0.0552] and some other messages.

pre-setup