Ubuntu18.04运行Vins-Fusion

本文主要是介绍Ubuntu18.04运行Vins-Fusion，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

一. 安装ros

1. Installation

2. Environment setup

3. Dependencies for building packages

4. 安装ros与opencv的桥接工具包

5.验证ros是否安装成功

二. 安装eigen

三. 安装opencv

1. 进入下载opencv的根目录

四. 安装ceres

1. 安装ceres依赖项

2. 进入Ceres的主目录，编译Ceres

五. 编译Vins-Fusion

1. 创建ros工作空间

2. 编译VINS-Fusion

3. 至此VINS-Fusion编译完成，后面需要打开四个shell窗口分别运行ros命令，为了避免每次打开新的shell都需要source，我们将其添加到bash配置文件中

4. 下载EuRoc数据集

5. 运行VINS-Fusion

Monocualr camera + IMU

Stereo cameras + IMU

Stereo cameras

六. 运行效果

一. 安装ros

不同的ubuntu版本对应不同版本的ros，具体可查询ros官网

http://wiki.ros.org/ROS/Installation

ubuntu16.04以及更老的版本对应ROS Kinetic Kame

ubuntu18.04对应ROS Melodic Morenia

ubuntu20.04对应ROS Noetic Ninjemys

下面开始安装ROS Melodic，详细安装教程可以参考下面的官网连接：

http://wiki.ros.org/melodic/Installation/Ubuntu

1. Installation

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 
sudo apt update 
sudo apt install ros-melodic-desktop-full

2. Environment setup

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

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

3. Dependencies for building packages

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

4. 安装ros与opencv的桥接工具包

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

5.验证ros是否安装成功

roscore

二. 安装eigen

sudo apt-get install libeigen3-dev

三. 安装opencv

下载opencv源码：

https://github.com/opencv/opencv

如果没有安装cmake，需要先安装cmake

sudo apt-get install cmake
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev

1. 进入下载opencv的根目录

mkdir build 
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
sudo make install

四. 安装ceres

下载ceres源码：

https://github.com/ceres-solver/ceres-solver

1. 安装ceres依赖项

sudo apt-get install liblapack-dev 
sudo apt-get install libsuitesparse-dev 
sudo apt-get install libcxsparse3.1.2 
sudo apt-get install libgflags-dev 
sudo apt-get install libgoogle-glog-dev libgtest-dev

安装libcxsparse3.1.2有可能找不到安装源，可参考如下解决：

sudo vi /etc/apt/sources.list
文件最后一行添加镜像源：deb http://archive.ubuntu.com/ubuntu/ trusty main universe restricted multiverse
sudo apt-get update

2. 进入Ceres的主目录，编译Ceres

mkdir build
cd build
cmake ..
sudo make install

五. 编译Vins-Fusion

1. 创建ros工作空间

mkdir -p ~/catkin_ws/src              
cd ~/catkin_ws/src
catkin_init_workspace

2. 编译VINS-Fusion

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

3. 至此VINS-Fusion编译完成，后面需要打开四个shell窗口分别运行ros命令，为了避免每次打开新的shell都需要source，我们将其添加到bash配置文件中

sudo  vi ~/.bashrc
最后一行添加：source ~/catkin_ws/devel/setup.bash
保存，退出

4. 下载EuRoc数据集

https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets#the_euroc_mav_dataset

我们以MH_04_difficult.bag为例，将其下载并保存在目录~/SLAM/test_data/

5. 运行VINS-Fusion

以单相机+IMU为例，分别打开四个shell窗口，运行命令

窗口1：

roslaunch vins vins_rviz.launch

窗口2：

rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml

窗口3(可选择运行，执行回环检测)：

(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml

窗口4：

rosbag play ~/SLAM/test_data/MH_04_difficult.bag

Monocualr camera + IMU

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
rosbag play ~/SLAM/test_data/MH_04_difficult.bag

Stereo cameras + IMU

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
rosbag play ~/SLAM/test_data/MH_04_difficult.bag

Stereo cameras

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
rosbag play ~/SLAM/test_data/MH_04_difficult.bag