Thesis: "Factor graph based state estimation for UAVs in construction environments"
Install ROS noetic.
Install gtsam & graph_msf by following these installation instructions
mkdir catkin_ws
cd catkin_ws
mkdir src
catkin init
cd src
git clone https://github.com/aithon-robotics/atn_leica_posiition_graph.git
git clone https://github.com/aithon-robotics/atn_leica_timesync.git
cd ..
catkin build
To start atn_leica_position_graph sensor fusion two Terminals are needed:
source ~/catkin_ws/devel/setup.bash
roslaunch atn_leica_position_graph graph_leica.launch
source ~/catkin_ws/devel/setup.bash
rosrun atn_leica_timesync atn_leica_timesync_node
| Package | Description | Link |
|---|---|---|
| atn_leica_timesync | Timesynchronization of total station & system clock | atn_leica_timesync |
| graph_msf | Factor graph framework this package is based on | graph_msf |