VINS_Mono测试（D435i）

平台

1.CPU：i5-9400（ubuntu 18.04）
2.摄像头+imu模组：D435i

安装步骤

1.依赖库安装

a.ros安装
b.ceres安装

2.Realsense SDK安装

a.下载源码

git clone https://github.com/IntelRealSense/librealsense.git

推荐下载2.19版本安装
b.依赖版本安装

sudo apt-get install libusb-1.0-0-dev libglfw3-dev libgtk-3-dev

libusb是一个USB设备访问接口库
gtk是一个图形工具包
glfw是一个OpenGL的应用框架
c.将英特尔服务器添加到存储库列表中

echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list

d.注册服务器的公钥

apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE

e.刷新apt列表

sudo apt-get update

f.安装相关包

$ sudo apt-get install librealsense2-dkms
$ sudo apt-get install librealsense2-utils

dkms是内核驱动包，utils是工具包
g.检查安装

modinfo uvcvideo | grep "version:" 

h.建立编译目录

cd librealsense
mkdir build
cd build

i.使用cmake进行编译

cmake ..
make -j8
sudo make install

j.检查安装

realsense-viewer

参考资料

3. ROS Wrapper安装

a.建立workspace，已经有的可以跳过

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
catkin_init_workspace 
cd ..
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

b.在catkin_ws/src/下载源程序

cd src
git clone https://github.com/intel-ros/realsense.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel

c.catkin_make

cd ..
catkin_make

d.如果没有错误说明，已经装好了，启动相机节点

roslaunch realsense2_camera rs_camera.launch

e.打开另外一个界面，看一下发布的topic

rostopic list

f.打开第三个界面，看一下某一个topic内容

rostopic echo /camera/color/camera_info

参考资料1
参考资料2

4. vins-mono下载安装

a.vins-mono下载

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

5.文件适配运行

a.修改realsense包里的rs_camera.launch文件（把文件中的几处修改成下面）

<arg name= "enable_gyro"     default= "true"/>
<arg name= "enable_accel"    default= "true"/>
<arg name= "enable_sync"    default= "true"/>
<arg name= "unite_imu_method"    default= "linear_interpolation"/>

b.修改VINS-Mono包里的realsense_color_config.yaml文件

imu_topic: "/camera/imu"
image_topic: "/camera/color/image_raw"

#unsynchronization parameters
estimate_td: 0                      # online estimate time offset between camera and imu
td: 0.000                           # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
#rolling shutter parameters
rolling_shutter: 0                      # 0: global shutter camera, 1: rolling shutter camera
rolling_shutter_tr: 0               # unit: s. rolling shutter read out time per frame (from data sheet). 

c.打开摄像头，运行VINS-Mono

roslaunch realsense2_camera rs_camera.launch 
roslaunch vins_estimator realsense_color.launch 
roslaunch vins_estimator vins_rviz.launch

参考资料