VINS-Mono 如何整合
- 下载 MYNT-EYE-D-SDK 及
sdk_install_ros
。 - 按照步骤安装 VINS-Mono 。
- 运行 mynteye_wrapper_d 和 VINS-Mono 。
cd ~
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
Note
为了能够使用docker进行编译,建议使用16G以上的RAM,或者确保RAM和虚拟内存空间大于16G。
sudo apt-get update
sudo apt-get install \
apt-transport-https \
ca-certificates \
curl \
gnupg-agent \
software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository \
"deb [arch=amd64] https://download.docker.com/linux/ubuntu \
$(lsb_release -cs) \
stable"
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io
Tip
可以使用 sudo usermod -aG docker $YOUR_USER_NAME
添加账号到 docker group
。 如果遇到"Permission denied"的问题,可以重启命令行或注销并重新登录。
git clone -b docker_feat https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd MYNT-EYE-VINS-Sample/docker
make build
1.运行mynteye节点
cd MYNT-EYE-D-SDK (local path of MYNT-EYE-D-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d vins_mono.launch stream_mode:=0
2.打开另一个命令行运行vins-mono
cd MYNT-EYE-VINS-Sample/docker (local path of MYNT-EYE-VINS-Sample)
./run.sh mynteye_d.launch