Only released in EOL distros:
Package Summary
hector_quadrotor_ptam demonstrates the use of the ptam Visual SLAM package on a simulated quadrotor UAV
- Author: Stefan Kohlbrecher
- License: BSD
- Source: svn https://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_quadrotor_experimental
Package Summary
hector_quadrotor_ptam demonstrates the use of the ptam Visual SLAM package on a simulated quadrotor UAV
- Author: Stefan Kohlbrecher
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor_experimental.git (branch: master)
Package Summary
hector_quadrotor_ptam demonstrates the use of the ptam Visual SLAM package on a simulated quadrotor UAV
- Author: Stefan Kohlbrecher
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor_experimental.git (branch: master)
Package Summary
hector_quadrotor_ptam demonstrates the use of the ptam Visual SLAM package on a simulated quadrotor UAV
- Author: Stefan Kohlbrecher
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor_experimental.git (branch: master)
Contents
Introduction
This package provides launch files and dependencies for starting a quadrotor visual SLAM simulation mainly based on the hector_quadrotor and ethzasl_ptam stacks (see both links for relevant publications). A example video can be seen below.
Usage Instructions
Build the package and dependencies:
rosmake hector_quadrotor_ptam
You can now start the quadrotor simulation:
roslaunch hector_quadrotor_ptam launch_simulation.launch
The use of a gamepad for UAV control is recommended, for this you can use the hector_quadrotor_teleop package. When using a Xbox controller, it can be started like this for instance:
roslaunch hector_quadrotor_teleop xbox_controller.launch
Note that you have to do (fly) some purely translational motion as described on the ptam page to initialize the visual SLAM system.