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docs(*): update docs v2.3.8

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This commit is contained in:
harjeb
2019-05-22 11:18:25 +08:00
parent 36c5491c93
commit 9b346ff33a
7 changed files with 89 additions and 67 deletions
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52
docs/src/slam/vins.rst
View File

@@ -20,37 +20,40 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
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
Install Ceres
--------------
Install Docker
---------------
.. code-block:: bash
cd ~
git clone https://ceres-solver.googlesource.com/ceres-solver
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update && sudo apt-get install libsuitesparse-dev
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j3
sudo make install
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
Then add your account to ``docker`` group by ``sudo usermod -aG docker $YOUR_USER_NAME`` . Relaunch the terminal or logout and re-login if you get ``Permission denied`` error.
To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.
Install MYNT-EYE-VINS-Sample
------------------------------
.. code-block:: bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ..
catkin_make
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
git clone -b docker_feat https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd MYNT-EYE-VINS-Sample/docker
make build
(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ``./run.sh LAUNCH_FILE_NAME`` after your changes.
Run VINS-Mono with MYNT® EYE
-----------------------------
@@ -61,11 +64,12 @@ Run VINS-Mono with MYNT® EYE
cd (local path of MYNT-EYE-S-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
roslaunch mynt_eye_ros_wrapper vins_mono.launch
2. Open another terminal and run vins
.. code-block:: bash
cd ~/catkin_ws
roslaunch vins_estimator mynteye_s.launch
cd path/to/VINS-Mono/docker
./run.sh mynteye_s.launch
# ./run.sh mynteye_s2100.launch # mono with s2100

52
docs/src/slam/vins_fusion.rst
View File

@@ -20,35 +20,41 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
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
Install Ceres
--------------
Install Docker
---------------
.. code-block:: bash
cd ~
git clone https://ceres-solver.googlesource.com/ceres-solver
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update && sudo apt-get install libsuitesparse-dev
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j3
sudo make install
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
Then add your account to ``docker`` group by ``sudo usermod -aG docker $YOUR_USER_NAME`` . Relaunch the terminal or logout and re-login if you get ``Permission denied`` error.
To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.
Install MYNT-EYE-VINS-FUSION-Samples
-------------------------------------
.. code-block:: bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
cd MYNT-EYE-VINS-FUSION-Samples/docker
make build
(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ``./run.sh LAUNCH_FILE_NAME`` after your changes.
Run VINS-FUSION with MYNT® EYE
-------------------------------
@@ -65,9 +71,7 @@ Run VINS-FUSION with MYNT® EYE
.. code-block:: bash
cd ~/catkin_ws/src
source ./devel/setup.bash
roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
# roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
# roslaunch vins mynteye-s2100-mono-imu.launch # mono+imu fusion with mynteye-s2100
# roslaunch vins mynteye-s2100-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-s2100
cd path/to/this_repo/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