Integration of px4 with fast_lio

PX4 Autopilot
1

Hey guys , I’m px4 beginner needing help to understand the best way to build up a drone GPS-denied

I was looking the pipeline between PX4 and ros2 humble and how to use the visual_odometry topic to send data from fast_lio to px4 . But I tested using gazebo simulation (with 3d lidar data) , however the px4 seems rejecting , I guess it was the EKF2 then the odometry between the drone and fast_lio was totally different.

Someone was some talking about of “IMU should be in high frequency“, those created doubts in my mind.

I have no clue how to solve it and get a good start point through this way.

2

Hi !

Not an expert in px4 nor in LIO, but I had this problem too.

In my case it was the velocity estimate that was off (due to vibration). I increased noise parameters (PX4), and fixed the velocity estimate (LIO). (still have vibration issue though).

I found this by checking the log, specifically estimator_aid_src_ev_pos / vel / hgt and comparing vehicle_local_position / vehicle_visual_odometry.

(Also px4 frame is FRD not the same as ROS which is FLU : ROS 2 User Guide | PX4 Guide (main) )

best

3

Did you test with external IMU? I’m with this question in my mind , because those I could try use own filter.