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kimera_rviz_markers

A collection of rviz markers for nice visualization of mainly things related to Visual Inertial Odometry.

1. Installation

A. Prerequisities

B. Installation

# Setup catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init

# Add workspace to bashrc.
echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

# Clone repo
cd ~/catkin_ws/src
git clone https://github.com/ToniRV/kimera_rviz_markers.git

# Install dependencies from rosinstall file using wstool
wstool init
wstool merge kimera_rviz_markers/install/kimera_rviz_markers.rosinstall
wstool update

Finally, compile:

# Compile code
catkin build

# Refresh workspace
source ~/.bashrc

2. Usage

rosrun

rosrun kimera_rviz_markers kimera_rviz_markers

roslaunch

roslaunch kimera_rviz_markers kimera_rviz_markers

rosservice

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RVIZ markers for Kimera-VIO-ROS

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  • C++ 95.1%
  • CMake 4.9%