VINS-Mono 如何整合

在 MYNT® EYE 上运行 VINS-Mono，请依照这些步骤：

  1. 下载 MYNT-EYE-D-SDK 及 ROS 安装。
  2. 按照一般步骤安装 VINS-Mono 。
  3. 运行 mynteye_wrapper_d 和 VINS-Mono 。

快捷安装 ROS Kinetic (若已安装，请忽略)

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

安装 MYNT-EYE-VINS-Sample

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ..
catkin_make
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

在 MYNT® EYE 上运行 VINS-Mono

1.运行mynteye节点

cd (local path of MYNT-EYE-D-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d vins_mono.launch

2.打开另一个命令行运行vins

cd ~/catkin_ws
roslaunch vins_estimator mynteye_d.launch