VINS-Fusion 如何整合

在 MYNT® EYE 上运行 VINS-Fusion,请依照这些步骤:

  1. 下载 MYNT-EYE-S-SDK 及安装 mynt_eye_ros_wrapper。

  2. 按照一般步骤安装 VINS-Fusion 。

  3. 运行 mynt_eye_ros_wrapper 和 VINS-Fusion 。

快捷安装 ROS Kinetic (若已安装,请忽略)

cd ~
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic

安装Docker

sudo apt-get update
sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    gnupg-agent \
    software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository \
   "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) \
   stable"
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io

然后通过 sudo usermod -aG docker $YOUR_USER_NAME 命令将账号加到 docker 组。如果遇到 Permission denied 错误,请登出后再重新登录。

安装 MYNT-EYE-VINS-FUSION-Samples

git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd MYNT-EYE-VINS-FUSION-Samples/docker
make build

编译docker推荐16G以上内存,或者内存和虚拟内存加起来大于16G。

(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 vins_fusion.launch

2.打开另一个命令行运行vins

cd path/to/MYNT-EYE-VINS-FUSION-Samples/docker
./run.sh mynteye-s/mynt_stereo_imu_config.yaml  # Stereo fusion
# ./run.sh mynteye-s2100/mynt_stereo_config.yaml # Stereo fusion with mynteye-s2100
# ./run.sh mynteye-s2100/mynt_stereo_imu_config.yaml # Stereo+imu fusion with mynteye-s2100
# ./run.sh mynteye-s2110/mynt_stereo_config.yaml # Stereo fusion with mynteye-s2110
# ./run.sh mynteye-s2110/mynt_stereo_imu_config.yaml # Stereo+imu fusion with mynteye-s2110