TX2入门教程软件篇-源码安装VINS-Mono

TX2入门教程软件篇-源码安装VINS-Mono

说明：

介绍如何TX2下安装VINS-Mono
测试环境：jetpack33

安装ROS相关：

sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-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：

下载测试的数据集，bag文件，zip文件
测试命令

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：

下载数据集，bag文件
执行脚本

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

参考：