side notes

Github Actions

version control

Ros build

A universal build tool: Cmake,catkin, colcon.

catkin

conceptual overview

sourcing source ~/catkin_ws/devel/setup.bash

catkin_make command not found executing by a dockerfile; here and here

catkin_make install

.rosinstall

How exactly does .rosinstall work?

Coordinate Frames

VOXL uses FRD (X Forward, Y Right and Z Down) for the body-fixed frame (the same as PX4) to publish the IMU data and the camera coord. frame is set as X to the right, Y down, and Z out the front of the lens (the same as OpenCV).

PX4 uses FRD (X Forward, Y Right and Z Down) for the local body frame as well for the reference frame

ROS (REP 105) uses an x-axis:East, y-axis:North, and the z-axis:Up (ENU) inertial coordinate frame.

In the SAL LAB' enclosed flight area, the T at the center specifies the origin of the world coordinate defined with the x-axis toward the desks, the y-axis toward the windows, and the z-axis oriented Upward.