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MSCKF_VIO

• MSCKF_VIO setup for following nvidia boards
  • jetson TX2 - Jetpack 4.2
  • jetson AGX Xavier
  • jetson Xavier NX - Jetpack 4.4
  
  
• version info
  • Ubuntu: 18.04
  • ROS: Melodic
  
  
• github link: KumarRobotics

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Index

1. Prerequisites

● Suitesparse

2. Installation

    ● Actually, there is no installation difference among TX2, Xavier, and NX

3. Install

4. Run

1. Prerequisites

● Suitesparse

$ sudo apt-get -y install libsuitesparse-dev

2. Installation

• git clone and build from source with dependencies

$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-planning/random_numbers.git
$ git clone https://github.com/KumarRobotics/msckf_vio.git
$ cd ../ && catkin build -DCMAKE_BUILDTYPE=Release -j $(nproc)
$ source ~/catkin_ws/devel/setup.bash

3. Install

● Actually, no installation difference among TX2, Xavier, and NX

4. Run

● you have to get a calibration data using kalibr

$ roslaunch realsense2_camera rs_camera.launch
$ roslaunch mavros px4.launch
$ roslaunch msckf_vio msckf_vio_realsense.launch