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This package provides launch files and dependencies for starting a quadrotor visual SLAM simulation mainly based on the hector_quadrotor and ethzasl_ptam stacks (see both links for relevant publications). A example video can be seen below.

Usage Instructions

Build the package and dependencies:

rosmake hector_quadrotor_ptam

You can now start the quadrotor simulation:

roslaunch hector_quadrotor_ptam launch_simulation.launch

The use of a gamepad for UAV control is recommended, for this you can use the hector_quadrotor_teleop package. When using a Xbox controller, it can be started like this for instance:

roslaunch hector_quadrotor_teleop xbox_controller.launch

Note that you have to do (fly) some purely translational motion as described on the ptam page to initialize the visual SLAM system.

2024-06-22 13:10