Claude/improve vins mono zwye u

config/rpi/.gitkeep

@@ -0,0 +1,10 @@
+# rpi calibration config
+
+`rpi.yaml` here is **runtime-generated** — copied into the docker image at startup
+by the host autostart script from `~/vins_docker/rpi.yaml`. The repo intentionally
+does not ship a default `rpi.yaml` so a stale committed version can never override
+a fresh calibration.
+
+If you launch `vins_estimator rpi.launch` and see "Wrong path to settings", check
+that the autostart script's `docker cp` step actually fired (look for "rpi.yaml
+copied from host to container" in `${RUN_DIR}/main.log`).

vins_estimator/CMakeLists.txt

@@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
     tf
     cv_bridge
     visualization_msgs
+    mavros_msgs
     )
 
 find_package(OpenCV REQUIRED)
@@ -52,6 +53,13 @@ add_executable(vins_estimator
     )
 
 
-target_link_libraries(vins_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) 
-
+target_link_libraries(vins_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
 
+# Hover-aware fork: vision_pose_bridge — forwards sanitized VINS odometry to
+# ArduPilot (/mavros/vision_pose/pose) and mirrors it on /vins_bridge/pose.
+# Lives inside vins_estimator so the install has one catkin package instead
+# of two.
+add_executable(vision_pose_bridge
+    src/vision_pose_bridge_node.cpp
+    )
+target_link_libraries(vision_pose_bridge ${catkin_LIBRARIES})

vins_estimator/launch/rpi.launch

@@ -0,0 +1,49 @@
+<launch>
+    <!-- VINS-Mono launch for Raspberry Pi setup. Same composition as the
+         user's original local rpi.launch (feature_tracker + vins_estimator
+         + pose_graph) plus the hover-aware vision_pose_bridge that
+         forwards sanitized odometry to /mavros/vision_pose/pose for
+         ArduPilot.
+
+         The rpi.yaml config is copied into config/rpi/ at startup by the
+         host autostart script (vins_docker/rpi.yaml → docker container).
+
+         vision_pose_bridge is launched here so the autostart script does
+         NOT need a separate `rosrun vision_pose_bridge` step. Bridge ROS
+         params are exposed as launch args:
+           bridge_rate, bridge_max_accel, bridge_max_speed,
+           bridge_odom_timeout
+    -->
+    <arg name="config_path" default="$(find feature_tracker)/../config/rpi/rpi.yaml" />
+    <arg name="vins_path"   default="$(find feature_tracker)/../config/../" />
+
+    <arg name="bridge_rate"          default="10.0" />
+    <arg name="bridge_max_accel"     default="40.0" />
+    <arg name="bridge_max_speed"     default="30.0" />
+    <arg name="bridge_odom_timeout"  default="1.0" />
+
+    <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log">
+        <param name="config_file" type="string" value="$(arg config_path)" />
+        <param name="vins_folder" type="string" value="$(arg vins_path)" />
+    </node>
+
+    <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="screen">
+        <param name="config_file" type="string" value="$(arg config_path)" />
+        <param name="vins_folder" type="string" value="$(arg vins_path)" />
+    </node>
+
+    <node name="pose_graph" pkg="pose_graph" type="pose_graph" output="screen">
+        <param name="config_file" type="string" value="$(arg config_path)" />
+        <param name="visualization_shift_x" type="int" value="0" />
+        <param name="visualization_shift_y" type="int" value="0" />
+        <param name="skip_cnt" type="int" value="0" />
+        <param name="skip_dis" type="double" value="0" />
+    </node>
+
+    <node name="vision_pose_bridge" pkg="vins_estimator" type="vision_pose_bridge" output="screen">
+        <param name="rate"         type="double" value="$(arg bridge_rate)" />
+        <param name="max_accel"    type="double" value="$(arg bridge_max_accel)" />
+        <param name="max_speed"    type="double" value="$(arg bridge_max_speed)" />
+        <param name="odom_timeout" type="double" value="$(arg bridge_odom_timeout)" />
+    </node>
+</launch>

vins_estimator/package.xml

@@ -42,6 +42,8 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
   <run_depend>roscpp</run_depend>
+  <build_depend>mavros_msgs</build_depend>
+  <run_depend>mavros_msgs</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->