Sensors

Basic Setting

• udev
• rqt

Sensors

1. Range sensor for altitude

• LeddarOne

2. GPS

2.1 GPS with Magnetometer module

• Holybro M8N (deprecated)
• DP0105 (NEO-M9N GPS + LIS3MDL Magnetometer (out of production)

2.2 RTK GPS

• Holybro M8P

3. Magnetometer

3.1 embedded magnetometer in GPS module

• LIS3MDL (in DROTCK DP0105/DP0801)
• HMC5883 (stop production -> QMC5883, too noisy)

3.2 magnetic declination

• rqt: please refer to this PR
• find correct declination here
  • Tokyo: -0.1335 rad (-7.65 deg)

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ZED stereo camera

how to reset the visual odometry during flight:

execute following commands in order:

$ rosservice call /zed/reset_tracking "{}"
$ rosservice call /zed/reset_odometry "{}" 

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Realsense

For X86_64 (e.g. upboard), you have to setup the udev:

• https://github.com/IntelRealSense/librealsense/blob/master/scripts/setup_udev_rules.sh
• $ git clone https://github.com/IntelRealSense/librealsense.git
• $ cd librealsense & ./scripts/setup_udev_rules.sh

For Nvidia Jetson TX2:

• Please refer to here.

Basic command for different sensors:

• realsense t265:

$ roslaunch realsense2_camera rs_t265.launch

• realsense d435/d435i:

$ roslaunch  aerial_robot_perceptionrealsence.launch enable_pointcloud:=true aligh_depth:=false depth_registered_processing:=true alighn_depth:=true

• Plane detect:

$ roslaunch aerial_robot_perception　hydrus_ceil_detect_real.launch nodelet_manager_name:=/camera/realsense2_camera_manager launch_manager:=false cloud_input:=/camera/depth_registered/points camera_info:=/camera/depth/camera_info