warning

This page is describing the upcoming ROS2 version of the MRS UAV System (however, it may be still outdated).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/.

OpenVINS

This folder contains docs on the subsystems needed to run VIO, specifically OpenVINS, with the MRS UAV System.

📄️ VINS IMU filter

VINS IMU filter

📄️ MRS Vins Republisher

MRS Vins Republisher

To run Bluefox2 and Bluefox2 IMU in the same service, place the following compose session snippet into the example session:

  vio:
    image: ctumrs/bluefox2:stable
    network_mode: host
    volumes:
      - /dev/:/dev/
    privileged: true
    env_file:
      - ./stack.env
    entrypoint: [
      "bash", "-c",
      "source /opt/ros/jazzy/setup.sh && ros2 launch mrs_open_vins_core vio_real.launch.py enable_bluefox_cam_and_imu:=true"
    ]