Contents
Introduction
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.