SLAM with OAK-D S2, Raspberry Pi 4 and Pixhawk 4

I’m trying to achieve SLAM with the hardware mentioned in the title. I followed the RTABMAP guide linked in the Luxonis docs. Docs Now I can see the PointCloud created by the camera and it’s trajectory in space but I don’t know how to go on from this point. I want to pass this information to the PX4 to let it move the drone automatically or give instructions through the Mission Planner. How can I achieve this?
Thank you

The SLAM system output the Camera Pose topic that you need to transform with MAVROS in order to generate the Vision_Position_Estimate MavLink message to the FC.

Here is one of the ROS wiki showing the procedure with Cartographer:

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