[Mini Quadrotor] update the parameter to perform VIO based localization

jsk-ros-pkg · Mar 13, 2023 · 03df381 · 03df381
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commit 03df381
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/robots/mini_quadrotor/config/StateEstimation.yaml b/robots/mini_quadrotor/config/StateEstimation.yaml
@@ -46,8 +46,11 @@ sensor_plugin:
                 estimate_mode: 3 # 1<<0 + 1<<1
         mocap:
                 estimate_mode: 6 # 1<<1 + 1<<2
-        vo:
+        vo1:
                 estimate_mode: 1 # 1<<0
-                vo_sub_topic_name: realsense/odom/throttle
+                vo_sub_topic_name: /quadrotor/camera/odom/sample
                 sensor_frame: realsense_pose_frame
+                z_vel_mode: false
+                fusion_mode: 0 # ONLY POS MODE
+                throttle_rate: 120 # Hz
 
diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml
@@ -31,5 +31,6 @@
     <!-- basic configuration for sensors (e.g. noise sigma) -->
     <rosparam file="$(find hydrus)/config/sensors/imu/spinal.yaml" command="load" />
     <rosparam file="$(find aerial_robot_base)/config/sensors/mocap.yaml" command="load" />
+    <rosparam file="$(find hydrus)/config/sensors/vo/realsense_t265.yaml" command="load" />
   </group>
 </launch>