VINS-Fusion 如何整合¶
在 MYNT® EYE 上运行 VINS-Fusion,请依照这些步骤:¶
- 下载 MYNT-EYE-S-SDK 及安装 mynt_eye_ros_wrapper。
- 按照一般步骤安装 VINS-Fusion 。
- 运行 mynt_eye_ros_wrapper 和 VINS-Fusion 。
安装 MYNT-EYE-VINS-FUSION-Samples¶
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
(如果安装失败,请尝试换一台系统干净的电脑或者重新安装系统与ROS)
在 MYNT® EYE 上运行 VINS-FUSION¶
1.运行mynteye节点
cd (local path of MYNT-EYE-S-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
2.打开另一个命令行运行vins
cd ~/catkin_ws
roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
# roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
# roslaunch vins mynteye-avarta-mono-imu.launch # mono+imu fusion with mynteye-avarta
# roslaunch vins mynteye-avarta-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-avarta