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ORB_SLAM3
rosrun ORB_SLAM3 Stereo Vocabulary/ORBvoc.txt Examples_old/Stereo/EuRoC.yaml true
rosbag play V1_02_medium.bag -r 0.6 /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu
//运行本地传感器的运行命令:
roscore
在对应的工作空间中:
source devel/setup.bash
roslaunch usb_cam usb_cam-test.launch //运行自己的相机时
在对应的ORB_SLAM目录下:
rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples_old/ROS/ORB_SLAM3/My_camera.yaml //运行自己的配置文件My_camera.yaml
-r 0.6 //表示以0.6倍速播放rosbag 速度按需求任改
rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true
ORB_SLAM2
//运行官方的数据集的运行命令:
roscore
rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true
//没改过topic用如下命令:
rosbag play MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu
如果已经改成相应的topic则直接播放包就行:
rosbag play MH_01_easy.bag -r 0.6 //表示以0.6倍速播放rosbag 速度按需求任改
roslaunch fast_lio mapping_velodyne.launch
rosbag play YOUR_DOWNLOADED.bag
对于fast lio2而言,仅需要输入原始点云及imu信息。于是,对应修改FAST_LIO/config/velodyne.yaml文件,即为 lid_topic: “/points_raw”、imu_topic: “/imu_raw
rosbag info 2020-09-16-quick-shack.bag
source devel/setup.bash
echo “source ~/fast_lio_ws/devel/setup.sh” >> ~/.bashrc //永久生效环境
rosbag info 100hz_2021-02-05-19-50-54.bag
source devel/setup.bash //工作空间下生效环境
roslaunch fast_lio mapping_avia.launch
rosbag play 100hz_2021-02-05-19-50-54.bag
source devel/setup.bash //工作空间下生效环境
roslaunch fast_lio mapping_avia.launch
rosbag play 2020-09-16-quick-shack.bag
Velodyne的包:
source devel/setup.bash //工作空间下生效环境
roslaunch fast_lio mapping_velodyne.launch
roslaunch fast_lio mapping_velodyne_our_data.launch
rosbag play cheku.bag
rosbag play YOUR_DOWNLOADED.bag
查看PCD文件
sudo apt install pcl-tools
pcl_viewer scans.pcd
查看ubuntu中的opencv版本:pkg-config --modversion opencv4 或(opencv)
查看eigen 版本:pkg-config --modversion eigen3
gcc -v
查看python的版本:python3 --version
1)创建工作空间,终端输入:
roscore
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
(2)编译工作空间:
cd ~/catkin_ws/
catkin_make
(3)使得工作空间的环境变量生效:
source devel/setup.bash
(4)使得环境变量在所有的终端中都有效(将路径添加进.bashrc文件中):
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
echo “source ~/PX4_ws/devel/setup.bash” >> ~/.bashrc
(5)保存.bashrc文件,查看添加的环境变量是否生效:
source ~/.bashrc
(6)查看添加的环境变量是否生效,创建一个新终端,输入:
echo $ROS_PACKAGE_PATH
sudo apt-get remove v
sudo apt-get remove vim-common
sudo apt-get remove vim-runtime
sudo apt-get remove vim-tiny
安装libdw-dev来修复:
sudo apt-get install libdw-dev
添加C++14的兼容语法:
set(CMAKE_CXX_STANDARD 14)
切换gcc版本:
sudo update-alternatives --config gcc
选择版本前面对应的数值:比如1,然后按回车,
查看gcc版本:gcc -v
source devel/setup.bash && roslaunch exploration_manager rviz.launch
source devel/setup.bash && roslaunch exploration_manager exploration.launch
/opt/ros/noetic/share/nlopt/cmake
nloptConfig.cmake
/
查看节点关系图: 在运行ROS例子时,在工作空间的根目录下打开终端:rqt_graph
安装ROS功能包所依赖的按装包:sudo apt-get install ros-ROS的版本-package_name
如:sudo apt-get install ros-noetic-rospy
按指定的速度跑包:rosbag play MH_01_easy.bag -r 0.3 (0.3倍速)
rosbag play V1_02_medium.bag -r 0.3
rosbag info xxx.bag
(3)画轨迹图(添加一个参数-p或者–plot即可看到轨迹的图形)
evo_traj tum CameraTrajectory.txt -p (画出单个轨迹)
evo_traj tum CameraTrajectory.txt data.tum -p (画两个或者两个以上的轨迹)
evo_traj tum CameraTrajectory.txt data.tum -p --align_origin (两个轨迹匹配到同一个原点)
evo_traj tum CameraTrajectory.txt data.tum --ref=data.tum -p --plot_mode=xz
evo_traj tum CameraTrajectory.txt data.tum --ref=data.tum -p --plot_mode=xyz
解释:上面命令中参数–ref表示设置轨迹为参考,–plot_mode=xz表示轨迹投影到xz轴显示
evo_traj tum CameraTrajectory.txt data.tum -p --plot_mode=xz
绝对误差:
//二维
evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz
//三维
evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xyz