Xavier NX VIO-quad Instructions

Setup Xavier NX companion computer (CC):

• README_flash_xavier.md: Flashing firmware onto A203 Xavier NX carrier board, then switching to boot from SD (for larger storage space).
• README_bashrc.md: Edits needed in the ~/.bashrc file on the Xavier NX in order to source ROS correctly and export necessary variables.
• README_software_xavier.md: Installing software to run ROVIO, connect to Intel RealSense cameras, etc.
• README_cameras.md: Calibration and information regarding the d435i and T265 Intel RealSense cameras.
• README_fiducial.md: (optional) Setting up apriltag detection with a CSI camera connected to the Xavier NX.

Setup CC & FCU (Kakute H7 v2) communication

• README_FCU_setup.md: Flashing firmware on the Kakute H7 v2, and setting up QGroundControl.
• README_UART.md: Connecting Xavier NX with the Kakute flight controller using UART ports and mavros.
• README_mocap.md: Setting up Motive motion capture and PX4 EKF2, for ground truth state estimation.

Taking flight

• README_tuning.md: Tuning PX4 quadcopter
• README_simulation.md: Commands for running experiments in simulation.
• README_run_stuff.md: Commands to run in the Xavier NX terminal to start mocap, ROVIO, MAVLink communication through mavros, and fly the quadcopter.

Other

• README_useful.md: Tips and links to useful resources.
• (COMING SOON)README_assembly.md: Assembling the base quadcopter.