VINS-Mono 运行 EuRoC VIO

安装ROS Kinetic

1. 安装Ubuntu16.04，ROS Kinetic只支持这个版本，如果其他的Ubuntu版本，安装时请使用对应命令，比如18.04 sudo apt-get install ros-melodic-desktop-full，其它版本的安装方式也不同，请参考其它版本教程。

2. 安装ROS

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   sudo apt install curl
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
   sudo apt-get update
   sudo apt-get install ros-kinetic-desktop-full
   sudo rosdep init && rosdep update
   echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
   

3. 启动core

   roscore
   

4. 试一下小乌龟，不要关闭core，再开一个终端

   # 小乌龟
   rosrun turtlesim turtlesim_node
   # 再开一个终端，让小乌龟运动
   rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
   

安装VINS-Mono

1. 安装依赖

   echo  "deb http://cz.archive.ubuntu.com/ubuntu trusty main universe" > /etc/apt/sources.list
   sudo apt-get update
   sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev
   sudo apt-get install libgoogle-glog-dev libgtest-dev
   git clone https://github.com/ceres-solver/ceres-solver.git
   cd ceres-solver
   git checkout 1.14.0
   sudo mkdir build && cd  build
   sudo cmake ..
   sudo make -j8
   sudo make install
   

2. Build VINS-Mono on ROS

   mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src && catkin_init_workspace
   git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
   cd ../
   catkin_make
   echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
   reboot
   

运行EuRoc

开四个窗口，分别运行下面四个命令

roscore
roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag 

参考

1. 安装ROS

   • https://www.jianshu.com/p/bfaa0db8bf18
   • http://wiki.ros.org/kinetic/Installation/Ubuntu

2. 安装 VINS-Mono

• https://github.com/HKUST-Aerial-Robotics/VINS-Mono