SLAM MONO 安装和使用

ubuntu16
ros版本kinetic

OPENVIO

ROS安装

设置Ubuntu的sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

设置key

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

更新package
```
sudo apt-get update
```

安装ROS kinetic完整版

sudo apt-get install ros-kinetic-desktop-full

安装完可以查看可用的package
```
apt-cache search ros-kinetic
```

更新环境

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source /opt/ros/kinetic/setup.bash

创建工作空间

mkdir -p ~/catkin_ws/src
mkdir -p ~/catkin_ws/build
mkdir -p ~/catkin_ws/devel

VINS-MONO安装编译

安装package

sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport

安装Ceres

Ceres安装链接

编译准备

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
#   add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev

编译安装

wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../
make -j4
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
make install

Eigen3.3.3 安装

wget https://codeload.github.com/eigenteam/eigen-git-mirror/tar.gz/3.3.3
mv 3.3.3 eigen-git-mirror-3.3.3.tar.gz
tar zxf eigen-git-mirror-3.3.3.tar.gz
cd eigen-git-mirror-3.3.3

mkdir build
cd build
cmake ..
make
make install

OpenCV-3.3.1 安装

wget https://codeload.github.com/opencv/opencv/tar.gz/3.3.1
mv 3.3.1 opencv-3.3.1.tar.gz
tar zxf opencv-3.3.1.tar.gz
cd opencv-3.3.1

mkdir build
cd build
cmake ..
make -j8
make install

编译

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

ROS_OPENVIO 编译

ROS_OPENVIO 编译流程

cd ~/catkin_ws/src
git clone https://gitee.com/guanglunking/OPENVIO_ROS
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

执行

在三个终端中分别执行如下命令（如果单独执行rosrun openvio openvio_ros失败的话则需要先在一个新窗口中roscore）
```
roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosrun openvio openvio_ros
```

ROS常用命令

roscore 是你在运行所有ROS程序前首先要运行的命令
```
roscore
```
列出正在运行的节点
```
rosnode list
```
查看某个特定节点信息
```
rosnode info [node_name]
```
列出所有的topic
```
rostopic list -v
```
显示topics上发布的message
```
rostopic echo [topic_name]
```
查看topic的message类型
```
rostopic type [topic_name]
```
查看message数据结构
```
rosmsg show [message_name]
```