(1)在catkin_ws的src文件夹内放入VINS-RGBD工程 (2)catkin_make编译 (3)打开terminal 1 roscore (4)terminal 2 source devel/setup.bash roslaunch vins_estimator realsense_color.launch (5)terminal3 source devel/setup.bash roslaunch vins_estimator vins_rviz.launch (6)terminal 4 rosbag play Simple.ba...
cmake_minimum_required(VERSION 2.8.3) project(camera_model) set(CMAKE_BUILD_TYPE "Release") set(CMAKE_CXX_FLAGS "-std=c++14") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC") find_package(catkin REQUIRED COMPONENTS roscpp std_msgs ) find_package(Boost REQUIRED COMPONENTS filesystem program_optio...
3.1 运行局部定位 rosrun vins vins_node /home/xuduo/catkin_ws/src/VINS-Fusion/config/realsense/realsense_depth_imu_config.yaml 3.2 运行全局定位与稠密建图 rosrun loop_fusion loop_fusion_node /home/xuduo/catkin_ws/src/VINS-Fusion/config/realsense/realsense_depth_imu_config.yaml 3.3 录制bag文件 ...