Verified that it can be compiled and run

Blimp-Autopilot-Ascend/.catkin_workspace

@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration

Blimp-Autopilot-Ascend/README.md

@@ -18,6 +18,52 @@
 
 将/src/vins-fusion/utils/odom_visualization目录拷贝至本地进行编译，然后在配置好多机ROS相关IP的情况下，在本地启动`roslaunch odom_visualization vins_vis.launch`
 
+## 依赖
+
+### Mavlink
+
+此工程中包括mavros，但对其中一个文件vision_pose_estimate.cpp做了修改，编译此工程即可提供mavros相关功能。
+
+直接源码编译安装mavros可能会出现与mavlink相关的依赖问题，可以先直接二进制安装mavros，让其自动解决相关依赖问题，再编译此工程，在编译完成后source此工程devel目录下的setup.bash，通过环境变量的改变，使得运行roslaunch mavros时启动的是此工程中的mavros而非二进制安装的原版。
+
+二进制安装mavros参见：https://blog.csdn.net/weixin_42301220/article/details/117845212
+
+### Ceres
+
+参见：
+
+https://zhuanlan.zhihu.com/p/460685629
+
+### Boost_python3
+
+参见：
+
+https://blog.csdn.net/zsf10220208/article/details/102571611#:~:text=%281%29%20%E5%8E%BBboost%E5%AE%98%E7%BD%91%20https%3A%2F%2Fwww.boost.org%2F%20%E4%B8%8B%E8%BD%BD%E8%BE%83%E6%96%B0%E7%89%88%E6%9C%AC%E7%9A%84boost%2C%E5%A6%82boost_1_71_0.zip.%20%282%29%20%E8%A7%A3%E5%8E%8B%3A%20unzip%20boost_1_71_0.zip,sudo.%2Fb2%20install%20%28d%29%20sudo%20ldconfig%20%284%29%20%E7%BC%96%E8%AF%91%E6%88%90%E5%8A%9F%E5%90%8E%E5%8F%AF%E4%BB%A5%E5%9C%A8%E9%BB%98%E8%AE%A4%E7%BC%96%E8%AF%91%E8%B7%AF%E5%BE%84%2Fusr%2Flocal%2Flib%E4%B8%8B%E6%89%BE%E5%88%B0%E7%9B%B8%E5%85%B3%E7%9A%84libboost%2A.so%2C%20boost%E5%9C%A8%2Fusr%2Flocal%2Finclude%2Fboost.
+
+https://boostorg.jfrog.io/artifactory/main/release/1.71.0/source/
+
+### OpenCV 3.4
+
+https://github.com/opencv/opencv/tree/3.4
+
+下载源码，解压之后进入目录，新建build目录，在build目录下执行
+```
+cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local/opencv34 -DWITH_LIBV4L=ON -DWITH_CUDA=OFF -DWITH_TBB=ON -DWITH_OPENMP=ON -DWITH_OPENGL=ON
+make -j8
+sudo make install
+```
+
+### RealsenseSDK
+
+https://github.com/IntelRealSense/librealsense/releases
+
+下载源码，解压之后进入目录，新建build目录，在build目录下执行
+```
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j8
+sudo make install
+```
+
 ## 编译
 
 在blimp-autopilot下执行`catkin_make -DCMAKE_BUILD_TYPE=Release`即可执行编译

Blimp-Autopilot-Ascend/shfiles/vins_run.sh

@@ -2,7 +2,7 @@
 
 source ../devel/setup.bash
 
-roslaunch realsense2_camera rs_camera.launch & sleep 6;
+# roslaunch realsense2_camera rs_camera.launch & sleep 6;
 
 rosrun vins vins_node ../src/vins-fusion/realflight_modules/VINS-Fusion/config/px4/stereo_imu_config_d435f.yaml & sleep 5;
 rosrun loop_fusion loop_fusion_node ../src/vins-fusion/realflight_modules/VINS-Fusion/config/px4/stereo_imu_config_d435f.yaml & sleep 1;

Blimp-Autopilot-Ascend/src/ego-planner/pcl_conversions/include/pcl_conversions/pcl_conversions.h

@@ -56,20 +56,20 @@
 #include <sensor_msgs/PointCloud2.h>
 
 #include <pcl/PointIndices.h>
-//#include <pcl_msgs/PointIndices.h>
+#include <pcl_msgs/PointIndices.h>
-#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PointIndices.h"
+// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PointIndices.h"
 
 #include <pcl/ModelCoefficients.h>
-//#include <pcl_msgs/ModelCoefficients.h>
+#include <pcl_msgs/ModelCoefficients.h>
-#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/ModelCoefficients.h"
+// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/ModelCoefficients.h"
 
 #include <pcl/Vertices.h>
-//#include <pcl_msgs/Vertices.h>
+#include <pcl_msgs/Vertices.h>
-#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/Vertices.h"
+// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/Vertices.h"
 
 #include <pcl/PolygonMesh.h>
-//#include <pcl_msgs/PolygonMesh.h>
+#include <pcl_msgs/PolygonMesh.h>
-#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PolygonMesh.h"
+// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PolygonMesh.h"
 
 #include <pcl/io/pcd_io.h>
 

Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_map.h

@@ -16,8 +16,8 @@
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
-//#include <pcl_conversions/pcl_conversions.h>
+#include <pcl_conversions/pcl_conversions.h>
-#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
+// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
 #include <pcl/io/pcd_io.h>
 
 #include <message_filters/subscriber.h>

Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_planner.h

@@ -6,8 +6,8 @@
 #include <ros/ros.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
-//#include <pcl_conversions/pcl_conversions.h>
+#include <pcl_conversions/pcl_conversions.h>
-#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
+// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
 #include <global_planner/global_map.h>
 #include <global_planner/raycast.h>
 #include <visualization_msgs/Marker.h>

Blimp-Autopilot-Ascend/src/ego-planner/planner/plan_env/include/plan_env/grid_map.h

@@ -15,8 +15,8 @@
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
-//#include <pcl_conversions/pcl_conversions.h>
+#include <pcl_conversions/pcl_conversions.h>
-#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
+// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
 
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>

Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/VINS-Fusion/loop_fusion/CMakeLists.txt

@@ -26,7 +26,7 @@ find_package(Ceres REQUIRED)
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 find_package(Eigen3)
 
-include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}  ${EIGEN3_INCLUDE_DIR} /root/blimp-autopilot-master/src/realflight_modules/VINS-Fusion-gpu/vins_estimator/src/estimator)
+include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}  ${EIGEN3_INCLUDE_DIR})
 
 catkin_package()
 

Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/vision_opencv-melodic/cv_bridge/CMakeLists.txt

@@ -3,13 +3,16 @@ project(cv_bridge)
 
 find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
 
+
+
 if(NOT ANDROID)
   find_package(PythonLibs)
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
+  find_package(Boost REQUIRED python)
-    find_package(Boost REQUIRED python)
+  # if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-  else()
+  #   find_package(Boost REQUIRED python)
-    find_package(Boost REQUIRED python3)
+  # else()
-  endif()
+  #   find_package(Boost REQUIRED python3)
+  # endif()
 else()
 find_package(Boost REQUIRED)
 endif()

Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/default.rviz

@@ -0,0 +1,369 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /map inflate1
+        - /Planning1/drone_path1
+        - /Odometry1/Shape1
+        - /drone1
+      Splitter Ratio: 0.43611112236976624
+    Tree Height: 1606
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: map inflate
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.05000000074505806
+      Reference Frame: <Fixed Frame>
+      Show Trail: false
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 1000
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.875
+        Min Value: 0.11500000208616257
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 29; 108; 212
+      Color Transformer: AxisColor
+      Decay Time: 3
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: map inflate
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.23000000417232513
+      Style: Boxes
+      Topic: /drone_0_ego_planner_node/grid_map/occupancy_inflate
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /drone_0_ego_planner_node/goal_point
+          Name: goal_point
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /drone_0_ego_planner_node/global_list
+          Name: global_path
+          Namespaces:
+            "": true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /drone_0_ego_planner_node/optimal_list
+          Name: optimal_traj
+          Namespaces:
+            "": true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /drone_0_ego_planner_node/failed_list
+          Name: FailedList
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /ego_planner_node/a_star_list
+          Name: AStar
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /drone_0_ego_planner_node/init_list
+          Name: InitTraj
+          Namespaces:
+            "": true
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 29; 108; 212
+          Enabled: false
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Billboards
+          Line Width: 0.019999999552965164
+          Name: drone_path
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: /vins_estimator/path
+          Unreliable: false
+          Value: false
+      Enabled: true
+      Name: Planning
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: false
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 0.5
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Axes
+      Topic: /vins_estimator/odometry
+      Unreliable: false
+      Value: false
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /odom_visualization/robot
+      Name: drone
+      Namespaces:
+        mesh: true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /drone_0_traj_server/yaw_direction
+      Name: des_yaw
+      Namespaces:
+        "": true
+      Queue Size: 1
+      Value: true
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /visualization/applied_trajectory
+      Name: land_traj
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: false
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /mavros/setpoint_raw/local
+      Unreliable: false
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Class: rviz_plugins/Goal3DTool
+      Topic: goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 6.624379634857178
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 1.7512515783309937
+        Y: 1.7239826917648315
+        Z: 1.7014034986495972
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5147976875305176
+      Target Frame: my_view
+      Yaw: 2.367333173751831
+    Saved:
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: FPS
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.4000000059604645
+        Position:
+          X: -11
+          Y: 0
+          Z: 8
+        Roll: 0
+        Target Frame: my_view
+        Yaw: 0
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: FPS
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.5
+        Position:
+          X: -10
+          Y: 0
+          Z: 10
+        Roll: 0
+        Target Frame: my_view
+        Yaw: 0
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: FPS
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.6000000238418579
+        Position:
+          X: -10
+          Y: 0
+          Z: 10
+        Roll: 0
+        Target Frame: my_view
+        Yaw: 0
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1872
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2856
+  X: 144
+  Y: 54

Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/vins_vis.launch

@@ -1,7 +1,6 @@
  <launch>
   <node pkg="odom_visualization" name="odom_visualization" type="odom_visualization" output="screen">
-        <!-- <remap from="~odom" to="/fusion_odom"/> -->
+		    <remap from="~odom" to="/loop_fusion/odometry_rect" />
-		<remap from="~odom" to="/vins_estimator/imu_propagate" />
         
         <param name="color/a" value="1.0"/>    
         <param name="color/r" value="0.0"/>        
@@ -11,4 +10,6 @@
         <param name="robot_scale" value="1.0"/>
         
   </node>
+  
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find odom_visualization)/launch/default.rviz" required="true" />
 </launch>