56 lines
1.8 KiB
ReStructuredText
56 lines
1.8 KiB
ReStructuredText
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.. _slam_vins_fusion:
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How to use in `VINS-Fusion <https://github.com/HKUST-Aerial-Robotics/Vins-Fusion>`_
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====================================================================================
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If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:
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-------------------------------------------------------------------------
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1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
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2. Follow the normal procedure to install VINS-Fusion.
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3. Run mynt_eye_ros_wrapper and VINS-Fusion.
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Prerequisites
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--------------
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1. Install Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.(if already installed, please ignore). `ROS Installation <http://wiki.ros.org/ROS/Installation>`_
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2. Install `Ceres <http://ceres-solver.org/installation.html>`_
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Install MYNT-EYE-VINS-FUSION-Samples
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-------------------------------------
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.. code-block:: bash
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
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cd ..
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catkin_make
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source ~/catkin_ws/devel/setup.bash
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(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
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Run VINS-FUSION with MYNT® EYE
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-------------------------------
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1. Launch mynteye node
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.. code-block:: bash
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cd (local path of MYNT-EYE-S-SDK)
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source ./wrappers/ros/devel/setup.bash
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roslaunch mynt_eye_ros_wrapper mynteye.launch
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2. Open another terminal and run vins
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.. code-block:: bash
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cd ~/catkin_ws
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roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
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# roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
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# roslaunch vins mynteye-avarta-mono-imu.launch # mono+imu fusion with mynteye-avarta
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# roslaunch vins mynteye-avarta-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-avarta
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