gazebo中的无人机双目orb slam2仿真中，px4始终requesting home position

Question

具体过程可以参考：

基于gazebo的四旋翼无人机iris双目相机ORB_SLAM2_Mr.Hazyzhao的博客-CSDN博客 gazebo环境中的四旋翼双目ORB仿真ORB SLAM2的编译github project linkORB-SLAM2的安装与运行Buildcd ORB_SLAM2chmod +x build.sh./build.shBuild in ROScopy ORB_SLAM2 to catkin_ws/srcadd Path, export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/ORB_SLAM2/Examples/RO https://blog.csdn.net/weixin_43693946/article/details/123502859?spm=1001.2014.3001.5501

之前通过offboard程序控制无人机起飞/航路点飞行等是可以的。但是在更改了ekf配置之后，连上orb slam2的位姿，就得不到home position了。

Answer 1

efk2 无法融合视觉信息且不断报错 requesting home position · Issue #I4YBV7 · 肖昆/XTDrone - Gitee.com https://gitee.com/robin_shaun/XTDrone/issues/I4YBV7

ekf2 failed to use Vision for localization and PX4 keeps noticing: requesting home position · Issue #19344 · PX4/PX4-Autopilot · GitHub Hi, thank you for checking this, I'm working on using ORB SLAM2 on my drone in the gazebo environment. After I get everything done, it seems efk2 didn't get Vision information or failed to change to Vision mode, below are my steps: edit ... https://github.com/PX4/PX4-Autopilot/issues/19344