ROS与VSLAM入门教程-viso2安装

ROS与VSLAM入门教程-viso2安装

说明：

• 介绍如何安装viso2

步骤：

• 下载：

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ wstool init
$ wstool set viso2 --git git://github.com/srv/viso2.git
$ wstool update

• 编译：

$ cd ..
$ catkin_make

测试：

• 下载rosbag包，http://srv.uib.es/public/viso2_ros/sample_bagfiles/
• 更改demo.launch里的rosbag名称和路径
• 运行命令

roslaunch viso2 demo.launch

• zed的配置launch

<launch>
 
    <!-- Arguments -->
    <arg name="bagfile" default="test.bag"/> <!-- Find it on http://srv.uib.es/public/viso2_ros/sample_bagfiles/  -->
  <arg name="camera" default="/zed"/>
  <param name="/use_sim_time" value="false"/>
 
  <!-- Play the bagfile -->
  <!--node pkg="rosbag" type="play" name="rosbag" args="clock $(arg bagfile)" /-->
 
  <!-- Run the stereo image proc -->
  <node ns="$(arg camera)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" />
 
  <!-- Viso2 -->
  <node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer">
    <remap from="stereo" to="$(arg camera)"/>
    <remap from="image" to="image_rect_color"/>
    <param name="base_link_frame_id" value="base_link"/>
  </node>

参考：

• https://github.com/walchko/libviso2
• http://www.cvlibs.net/
• http://wiki.ros.org/libviso2
• https://github.com/srv/viso2
• http://wiki.ros.org/viso2
• http://wiki.ros.org/viso2_ros
• https://mirror.umd.edu/roswiki/doc/indigo/api/viso2_ros/
• http://srv.uib.es/public/viso2_ros/sample_bagfiles/
• https://www.safaribooksonline.com/library/view/learning-ros-for/9781783987580/ch05s06.html
• https://codegists.com/code/using-viso2_ros/