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Scale Bridge
Overview

The Scale Bridge is a ROS package designed to perform certain functionalities related to scale estimation. The project requires certain dependencies and is configured to build with C++11 standards.

Installation

Dependencies

    ROS (Robot Operating System), tested with Kinetic and later versions.
    Eigen3
    Ceres
    Geometry_msgs
    Roscpp
    Sensor_msgs
    Std_msgs
    Tf2, tf2_ros, tf2_geometry_msgs


Building from Source

Here are the instructions to build the project from source:
1. Clone the Repository

Navigate to your workspace's src directory and clone the repository:
'cd ~/catkin_ws/src'
'git clone https://github.com/slva21/scale_bridge.git'

2. Install Required Packages
Make sure you have the required dependencies. On a system with ROS, you can use the following command to install the necessary packages:
'sudo apt-get install ros-$ROS_DISTRO-tf2 ros-$ROS_DISTRO-tf2-ros ros-$ROS_DISTRO-tf2-geometry-msgs'

3. Build the Package
Navigate to your workspace's root directory and build the package:
'cd ~/catkin_ws'
'catkin build'
'source ~/catkin_ws/devel/setup.bash'


Topics
Output Topics:

    MonoSLAM Estimates: "visual_intertial/vio"
    ScaleBridge EKF Estimates: "visual_intertial/ekf"
    Gazebo Model Pose: "visual_intertial/gazebo"
    Scale Estimates:  "visual_inertial/scale"

Input Topics:

    MonoSLAM PoseStamped Topic: "/orb_slam2_mono/pose"
    IMU Topic: "/tello/imu"