Reijin_ThunderKeg's profile - activity

Your Y-axis limits might be too large to reflect the small changes in your data. Try zooming in on the graph.

Hey everyone,

I'm trying to perform dead reckoning using an AR Drone. Namely, initialize the drone's location on a floorplan, then as I move the drone around in my hands, I want the drone's trajectory to be updated on Rviz.

So far I have odometry data being published to /ardrone/odometry as nav_msgs/Odometry type. When I attempt to visualize this on Rviz, however, I only get the direction the drone is facing. I would also like the moving trajectory of the drone, but I don't know how to display this onto Rviz.

Also note that I'm not flying the drone, simply moving it around in my hands. Could this be a reason why I can't see the trajectory?

EDIT : Here's how my Rviz looks like : http://imgur.com/a/9BJg6

As you can see it just tells me where the drone is pointing and does not update the movement even if I move across the room.

I'm trying to find a way where I can estimate the location of my drone on a floorplan. Note that right now, I will just be moving the drone around manually and not flying it.

I read up on PDR and what I want to do is this: Provide an initial location of my drone on the floorplan, and as I move the drone around, using information from the IMU/accelerometers, I want to update the position of my drone on the floorplan.

I've worked with ROS a bit and I want to know if there are packages in ROS that could do this. For now, I'm looking for rough estimates and not perfect solutions.

Thanks!