README.md

Practical 2: Naive Localization using Dead Reckoning

This rosnode performs naive dead reckoning using the IMU (accelerometer, gyroscope). This works with RealSense data, but can be adapted to work with your tello.

Step 1: Clone this repo into your ~/catkin_ws/src folder.

cd ~/catkin_ws/src
git clone https://github.com/BWSI-UAV/localization_naive.git
cd ..

Step 2: Build code and source environment.

catkin_make
source ~/catkin_ws/devel/setup.bash

Step 3: Download localization test data and save to ~/catkin_ws/src/localization_data

Download the data from here.

Step 4: Start localization viewer

roscore
roslaunch localization_naive start_rqt.launch

Step 5: Drag and drop the /processed_pose topic to the cube.

Step 6: Start dead reckoning

roslaunch localization_naive dead_reckoning.launch