74 lines
2.4 KiB
ReStructuredText
74 lines
2.4 KiB
ReStructuredText
.. _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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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 Ceres
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--------------
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.. code-block:: bash
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cd ~
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git clone https://ceres-solver.googlesource.com/ceres-solver
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sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
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sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
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sudo apt-get update && sudo apt-get install libsuitesparse-dev
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mkdir ceres-bin
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cd ceres-bin
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cmake ../ceres-solver
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make -j3
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sudo make install
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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 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 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 ~/catkin_ws/src
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source ./devel/setup.bash
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roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
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# roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
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# roslaunch vins mynteye-s2100-mono-imu.launch # mono+imu fusion with mynteye-s2100
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# roslaunch vins mynteye-s2100-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-s2100
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