Visual Inertial Odometry (VIO) for ROS2

ROS / MAVROS / MicroDDS
1

I have previously used the Auterion/VIO package for ROS1 with great success, however, since I am now moving on to ROS2 (humble) I was wondering if there exists any alternatives that works as well/is as easy to setup?

2

you can still use ROS1 bridge. Otherwise, you may want to use vehicle_visual_odometry uORB topic. There is something here as well. Old discussion but may give an idea.

3

Okay, but how am I supposed to use the ROS1 bridge when I’m on ubuntu 22.04 with ROS2 humble? There is no ROS1 distro for this version of ubuntu, and I thought the ROS1 bridge required me to have both ROS1 and ROS2 installed on the same system, or am I missing something?

4

I had the same issue, put together a package, feel free to use it. Bitbucket

5

@ripdk12

I have successfully used OpenVins in ROS 2 humble.
https://docs.openvins.com/

6

@Mzahana
Did you use Realsense D435i camera for OpenVins? What orientation did you put your camera in? PX4 doc says to attach it facing downwards.