ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); // 启动程序时参数缺少,给予错误提示 if (argc != 2) { printf("please intput: rosrun vins vins_node [config file] \n" "for example: rosrun vins vins_node " "~/catkin_ws/src/VINS-Fusion/config/eu...
sudo apt-get remove ros-noetic-cv-bridge 2.下载新版本cv_bridge 浏览器打开 https://github.com/ros-perception/vision_opencv 选择noetic对应的cv_bridge, 或者直接, git clone https://github.com/ros-perception/vision_opencv/tree/melodic 3.修改cv_bridge中的cmakelists.txt find_package(OpenCV 3.4.10...
下载vscode,配置扩展插件,下载ros工程(此处以VINS-Fusion为例),配置ros工程需要的环境。这里的步骤可以参考上面的链接。此处我们把VINS-FUSION的workspace命名为vins-fusion-catkin_ws. 在vins-fusion-catkin_ws目录下打开终端,输入code . 将本工程在vscode中打开。 我们以vins-fusion的4.2 运行stereo+GPS为例。在githu...
VINS-Fusion-GPU : from hereNo-ROS version0. camera_models : merged into one header, one source fileOriginal package is not dependent on ROS, using original one would be fine.1. Merged all header files into one.2. Merged all src files into one + main.3. Trying to remove ROS. ==> ...
Using oak-D pro W to do VIO with Vins-Fusion ROS pkg problem #241 opened May 11, 2024 by Yousef19986 IMU Camera calibration #240 opened Apr 26, 2024 by Jawaheru 1 In RVIZ the VIO trajectory is perpendicular to the gps route of global_fusion #239 opened Apr 26, 2024 by Lmy...
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag ...
cd ~/catkin_ws/src git clone KumarRobotics/msckf_vio cd .. catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release #激活环境变量很关键 source /devel/setup.bash roslaunch msckf_vio msckf_vio_euroc.launch #注意文件路径 rosrun rviz rviz -d点...
需要打开三个Terminal 打开RVIZ roslaunch vins vins_rviz.launch 打开VINS_Fusion rosrun vins vins_node /home/guoben/Project/VINS_ws/src/VINS-Fusion/config/tum-vio/tum_mono.yaml 播放数据集 rosbag play Dataset/TUM-VIO/dataset-corridor4_512_16.bag...
VINS-kidnap 主要亮点: 作为 VINS-Fusion 的附加组件是一个功能齐全的系统,它使用全图像特征点进行位置表示,能够实时地从测距漂移,绑架和故障中恢复,可以与任何 VIO 系统配合使用, 并且 Learning Code 2 和VINS-Fusion 插件ROS Package 3 是开源的。 一种新颖 【VINS论文笔记】A General Optimization-based ...
为了在ROS2 Foxy和Ubuntu 20.04上编译和运行vins-mono-ros2,您可以参考前辈在其vins-ros2项目中修改vins-fusion的过程。首先,确保您已经安装了ROS2 Foxy,并且配置正确。然后,根据vins-mono-ros2的GitHub页面提供的说明,下载源代码并进行编译。在编译过程中可能会遇到一些依赖项或环境配置的问题,您需要解决这些问题以...