VISION TO MAVROS USING D435I CAMERA AND VIO

[bhaskar-glitch]

Hi @thien94 @mzahana @peterbarker @muramura ,
I want use this vision to mavros script with my D435I camera and VIO(VINS_FUSION).
What changes i have to make to do so? Please help

[thien94]

I suggest separating the process into a few steps:

1. Being able to run VINS-Fusion using the D435i. You can adapt the available config files to your sensor. You should have stable, high frequency odometry output.
2. Adapt the launch file t265_tf_to_mavros to your system. First, all the arguments (tf frames name) must be correct. You should have the mavros messages and FCU receiving data, but the data might be in wrong orientation.
3. Second, the parameters need adjustment to correct the data. This one might be a bit complicated if you are not familiar with the concept of frame transformation.

Once you reach step 3, we can continue the discussion in more detail if you are having trouble.