Skip to main content
Version: 2.0.0
warning

This page is describing the upcomming ROS2 version of the MRS UAV System (however, it may be still outdated). If you are looking for ROS1 version of the docs, follow to https://ctu-mrs.github.io/docs/1.5.0/introduction/.

Localization sources within the MRS

  • TODO explain the reason for the need of localization
  • TODO explain that the sources of localizaton are fused by the estimation manager
  • TODO point to the metapackages responsible for defining the estimator plugin and the other dependencies

GNSS + Magnetometer​

  • TODO State estimator is part of the MRS core.
  • TODO Direct integration with PX4 over the HW API.

RTK GNSS​

  • TODO State estimator is part of the MRS core.
  • TODO Direct integration with Emlid Reach.

Hector SLAM​

  • TODO Is prebuilt and part of the MRS

ALOAM SLAM​

  • TODO Is prebuilt and part of the MRS

OpenVINS Visual Inertial Odometry (VIO)​

  • TODO Is prebuilt and part of the MRS

PointLIO SLAM​

  • TODO the estimator plugin is prebuilt
  • TODO the SLAM is not part of the MRS

LIOSAM SLAM​

  • TODO The SLAM and the estimator plugins are prebuilt in the MRS but not test in the realworld