so i am trying to achieve a autonomous flight for my drone in gps denied environment
i am using
pixhawk 2.4.8
depth camera d435i
ubuntu 22.04
px4 firmware
ros2 humble
mavros
without GPS it will show you Invalid local position You can use ORB_SLAM3 to make your drone fly in position mode indoor without GPS. ORB_SLAM3will be running on companion computer
yeah , i am using slam to provide local position to the drone but i dont know how to integrate the slam with the mavros, i know about some ros packages vision_to_mavros but this is available for ros1 not ros2 can u help me integrating the slam pose data with mavros
Sure, Provide the link of the SLAM you want to integrate with your vehicle
i am using rtabmap github repository for slam
which is better orb slam or rtabmap for providing stable flight
also i couldn’t figure out which topic is exactly providing pose data
Ok @Pratik_Wagh. I will connect the Flight controller and use the above slam to feed position data to the Flight controller. It will enable drones in position and offboard in GPS-denied environment