Ubuntu18.04 VINS-Mono & Fast-Planner

Ubuntu18.04 VINS-Mono & Fast-Planner

官方GIthub

1. 安装依赖

#额外ros包
sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

ROS

Eigen 3.x

Ubuntu18.04 Ceres Solver

Ubuntu18.04 Opencv3.3.1

2. 安装

源码包百度网盘链接 提取码：oooo

#文件夹需自行创建
cd ~/catkin_ws/src

#源码包与git clone 二选一
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git

#编译
cd ../
catkin_make

#设置环境变量，最好写在.bashrc里
source ~/catkin_ws/devel/setup.bash

3. 测试

数据集百度网盘链接 提取码：oooo

将数据集放在catkin_ws新建data文件夹里

    roslaunch vins_estimator euroc.launch 
    roslaunch vins_estimator vins_rviz.launch
    rosbag play ~/catkin_ws/data/MH_01_easy.bag

注意：

(If you fail to open vins_rviz.launch, just open an empty rviz, then load the config file: file -> Open Config-> YOUR_VINS_FOLDER/config/vins_rviz_config.rviz)

运行效果如下图：

Ubuntu18.04 Fast-Planner

源码百度网盘 提取码：oooo

  sudo apt-get install libarmadillo-dev ros-melodic-nlopt
  cd ${YOUR_WORKSPACE_PATH}/src
  git clone https://github.com/HKUST-Aerial-Robotics/Fast-Planner.git
  cd ../ 
  catkin_make

同样地，修改.bashrc添加环境变量，这里不赘述

roslaunch plan_manage rviz.launch
roslaunch plan_manage kino_replan.launch

运行效果：