<> <> == Introduction == This package provides launch files and dependencies for starting a quadrotor visual SLAM simulation mainly based on the [[hector_quadrotor|hector_quadrotor]] and [[ethzasl_ptam|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|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 [[http://www.ros.org/wiki/ptam#Initialization|ptam]] page to initialize the visual SLAM system. ## AUTOGENERATED DON'T DELETE ## CategoryPackage