8b0016fa07
* feature/docs: docs(*): fix requirements docs(*): update doc 更新Datasheet和标定文档 新版文档更新 docs(*): update docs # Conflicts: # docs/src/sdk/exe_install_windows.rst
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2.8 KiB
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78 lines
2.8 KiB
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.. _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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Install ROS Kinetic conveniently (if already installed, please ignore)
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----------------------------------------------------------------------
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.. code-block:: bash
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cd ~
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wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
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chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
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Install Docker
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---------------
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.. code-block:: bash
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sudo apt-get update
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sudo apt-get install \
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apt-transport-https \
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ca-certificates \
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curl \
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gnupg-agent \
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software-properties-common
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curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
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sudo add-apt-repository \
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"deb [arch=amd64] https://download.docker.com/linux/ubuntu \
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$(lsb_release -cs) \
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stable"
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sudo apt-get update
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sudo apt-get install docker-ce docker-ce-cli containerd.io
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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.
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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.
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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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git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
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cd MYNT-EYE-VINS-FUSION-Samples/docker
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make build
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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.
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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 vins_fusion.launch
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2. Open another terminal and run vins
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.. code-block:: bash
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cd path/to/MYNT-EYE-VINS-FUSION-Samples/docker
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./run.sh mynteye-s/mynt_stereo_imu_config.yaml # Stereo fusion
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# ./run.sh mynteye-s2100/mynt_stereo_config.yaml # Stereo fusion with mynteye-s2100
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# ./run.sh mynteye-s2100/mynt_stereo_imu_config.yaml # Stereo+imu fusion with mynteye-s2100
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