Home » Nano入门教程软件篇 » Nano入门教程软件篇-源码安装VINS-Mono

Nano入门教程软件篇-源码安装VINS-Mono

Nano入门教程软件篇-源码安装VINS-Mono

说明:

  • 介绍如何nano安装VINS-Mono

安装ROS相关:

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

安装ceres-solver:

  • 安装依赖:
# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev
  • 下载编译ceres-solver
cd ~/tools/
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver/
mkdir build
cd build
cmake ..
make -j1
sudo make install

安装VINS-Mono

  • 下载源码
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

测试:

roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag 
  • 如果需要跟实际轨迹同步显示
roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
roslaunch benchmark_publisher publish.launch sequence_name:=MH_05_difficult
rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag 
  • 绿线是VINS的轨迹,红线是真实的轨迹

AR测试:

roslaunch ar_demo 3dm_bag.launch
roslaunch ar_demo ar_rviz.launch
rosbag play YOUR_PATH_TO_DATASET/ar_box.bag 

参考:

  • https://github.com/HKUST-Aerial-Robotics/VINS-Mono
  • http://ceres-solver.org/installation.html

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标签: nano入门教程软件篇