Agri Eye ROS2

build

cd ~/ros2_ws/src
git clone git@github.com:AgriSwarm/agri_eye_ros2.git
cd ~/ros2_ws
colcon build --symlink-install
. install/local_setup.bash

Camera demo

flash済みのesp32-camを起動

. install/local_setup.bash
ros2 run local_sensing esp32cam_server.py --ros-args -p visualize:=true

Sendpose demo

ros2 run visual_odom send_pose.py

visualizationしたい場合はcrazyflieを起動

ros2 launch crazyflie launch.py backend:=cflib

Aggregate imu&image&odom data

ros2 run visual_odom data_aggregator --ros-args -p freq:=10