- ORBvoc.txt
- orb_vocab.fbow
- runcam_720.yaml
- gazebo_480p.yaml
-
Map path:
../data/map/ -
map_db:
gazebo480-' + time.strftime("%Y%m%d-%H%M") + '.msg'runcam720-' + time.strftime("%Y%m%d-%H%M") + '.msg'
-
alignment parameter:
../data/param/sim_align_param.yaml../data/param/align_param.yaml
-
waypoints:
../data/waypoints.yaml/
-
bag files:
../data
- start maavros:
ros2 launch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557" - create map with sim_mapping.launch.py:
ros2 launch sim_mapping.launch.py - localization with map:
ros2 launch sim_localization.launch.py map_db_in:=map/gazebo-480-20231012-36.msg