部署VINS-Fusion并跑通EuROC Example

        VINS-Fusion的github项目地址：GitHub - HKUST-Aerial-Robotics/VINS-Fusion，其中也包含了安装指引，本文记录自己的安装过程。

1 准备工作

1.1 安装64位Ubuntu16.04 或 Ubuntu18.04

略

1.2 安装ROS Kinetic 或 ROS Melodic

略

1.3 安装Ceres Solver

1.3.1 准备工作

#更新软件源
sudo apt-get update

#安装依赖
# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev

1.3.2  从仓库克隆代码到本地

git clone https://ceres-solver.googlesource.com/ceres-solver

         如果访问不了该网址，可以去官网下载代码，解压在主目录下编译。

 1.3.3 编译Ceres

#进入目录
cd ceres-solver

#编译
mkdir build
cd build
cmake ..
make

1.3.4 安装

sudo make install

2 编译VINS-Fusion

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

#加入环境变量（暂时）
source ~/catkin_ws/devel/setup.bash

3 运行示例

        下载EuRoc MAV数据集，本文以http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.bag为例，我把它放在/home/jlj/datasets路径下。

3.1 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 /home/jlj/datasets/MH_01_easy.bag

3.2 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 /home/jlj/datasets/MH_01_easy.bag

3.3 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 /home/jlj/datasets/MH_01_easy.bag