CCM_SLAM多无人机视觉SLAM仿真（gazebo环境）

0. 偷师学艺

follow instructions:

For using you own datasets or camera, you need to create according calibration and launch files:

• Create a new camera calibration file, e.g. by copying and adjusting

  conf/vi_euroc.yaml
  

  • If you don’t know the parameters of your camera, you can find them using a camera calibration toolbox, such as kalibr.

• Create a new launch file, e.g. by copying and adjusting

  launch/EuRoC/Client0_euroc.yaml
  

  • Change the parameter cam to the path of your new camera file.
  • Change the parameter TopicNameCamSub to the name of your camera topic.
  • Hint: If you have an existing rosbag-file with camera data, you can directly modify the topic when playing the bagfile: rosbag play mybag.bag existing_topic:=new_name

• There is no need to change Server.launch, however, you can adjust the number of Agents in the system by changing NumOfClients. The maximum is set to 4 in the current implementation.

• If you are using a downward-looking camera instead of a forward-looking (as in the EuRoC sequences), it is recommended to change the rotational part of the static transform publishers in the launch files to 0 0 -3.142, e.g. <node pkg="tf" type="static_transform_publisher" name="linkS0_broadcaster" args="0 0 5 0 0 -3.142 world odomS0 100" />.

• There should be no need to change the name of the frame-IDs, such as odomC0.

1. 设置相机参数文件

在cslam/conf中添加之前ORB用的px4_sitl.yaml参数文件

2. 新建launch文件

先参考一下ccm自带的写成什么样, Client0_euroc.launch

<?xml version="1.0"?>
<launch>

<arg name="dist" default="0"/>
<arg name="cam" default="$(find ccmslam)/conf/vi_euroc.yaml"/>

  <group ns="ccmslam">

  <node pkg="tf" type="static_transform_publisher" name="linkC0_broadcaster" args="-100 300 5 -1.571 0 -2 world odomC0 100" /> 

<node pkg="ccmslam" type="ccmslamClientNode" name="ccmslamClientNode0" args="$(find ccmslam)/conf/ORBvoc.txt $(arg cam)" output="screen">

  <!-- ++++++++++++++++++++++++++++++++++++++++++++++ -->
  <!-- Agent Specific Params - !!!MUST BE ADJUSTED!!! -->

  <param name="~FrameId" type="string" value="odomC0" />
  <param name="~ClientId" type="int" value="0" />

  <param name="~TopicNameCamSub" type="string" value="/cam0/image_raw" />

  <param name="~MapInTopicName" type="string" value="MapOutServer0" unless="$(arg dist)" />
  <param name="~MapInTopicName" type="string" value="MapOutServer0Disturbed" if="$(arg dist)" /> 

</node>

  </group>
</launch>

按需求更改；

<?xml version="1.0"?>
<launch>

<arg name="dist" default="0"/>
<arg name="cam" default="$(find ccmslam)/conf/px4_sitl.yaml"/>

  <group ns="ccmslam">

  <node pkg="tf" type="static_transform_publisher" name="linkC0_broadcaster" args="-100 300 5 -1.571 0 -2 world odomC0 100" /> 

<node pkg="ccmslam" type="ccmslamClientNode" name="ccmslamClientNode0" args="$(find ccmslam)/conf/ORBvoc.txt $(arg cam)" output="screen">

  <!-- ++++++++++++++++++++++++++++++++++++++++++++++ -->
  <!-- Agent Specific Params - !!!MUST BE ADJUSTED!!! -->

  <param name="~FrameId" type="string" value="odomC0" />
  <param name="~ClientId" type="int" value="0" />

  <param name="~TopicNameCamSub" type="string" value="/iris0/usb_cam/image_raw" />

  <param name="~MapInTopicName" type="string" value="MapOutServer0" unless="$(arg dist)" />
  <param name="~MapInTopicName" type="string" value="MapOutServer0Disturbed" if="$(arg dist)" /> 

</node>

  </group>
</launch>

修改Server.launch中的client number

3. 运行

• launch px4 launch file

• roslaunch ccmslam Server.launch

• roslaunch ccmslam Client0_px4.launch

• roslaunch ccmslam Client1_px4.launch

• use rviz to show,

• roscd ccmslam
  rviz -d conf/rviz/ccmslam.rviz
  

过程如图：

结果