VIW-Fusion

Our code is being prepared for public……

VIO system incorporating wheel encoders

This work is based on VINS-Fusion https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git

#The vins-wheels library includes third-party code from the following sources:

https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
https://github.com/Wallong/VINS-GPS-Wheel.git

Videos:

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. Ceres Solver

Follow Ceres Installation.

2. Build VINS-Fusion

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)

3. KAIST Example

Download KAIST Dataset to YOUR_DATASET_FOLDER.

3.1 Monocualr camera + IMU + wheels

    roslaunch vins vins_rviz.launch
    rosrun vins kaist_viwo  src/vins-wheels/coig/kaist/kaist_cam0_viwo_38-39.yaml /home/q_ftp/DataSet1/KAIST/kaist39/
    or
    rosrun vins kaist_viwo  src/vins-wheels/coig/kaist/kaist_cam0_viwo_38-39.yaml /home/q_ftp/DataSet1/KAIST/kaist39/ /output_folder
    (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml