ubuntu 16.04运行 vins-fusion

前提

安装Eigen3.3.7

参考博客

安装ceres1.14.0

参考博客
ceres别装2.0版本，装1.4
开始装的2.0遇到错误error: ‘integer_sequence’ is not a member of ‘std’ struct SumImpl<std::integer_sequence<T, N, Ns…>>
教程

安装Ros

参考博客

编译

新建工作空间 mkdir -p ~/catkin_vinsfusion_ws/src
可以去gitee下载vinsfusion的镜像，解压后把文件夹放在/catkin_vinsfusion_ws/src下
在/catkin_vinsfusion_ws/下 打开终端 运行

catkin make
source ~/catkin_vinsfusion_ws/devel/setup.bash

运行

(1)
/catkin_vinsfusion_ws/打开一个终端，运行

source ~/catkin_vinsfusion_ws/devel/setup.bash
roslaunch vins vins_rviz.launch

(2)
/catkin_vinsfusion_ws/打开一个终端，运行

source ~/catkin_vinsfusion_ws/devel/setup.bash
rosrun vins vins_node ~/catkin_vinsfusion_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml

(3)
/catkin_vinsfusion_ws/打开一个终端，运行(回环检测)

source ~/catkin_vinsfusion_ws/devel/setup.bash
rosrun loop_fusion loop_fusion_node ~/catkin_vinsfusion_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 

(4)
/catkin_vinsfusion_ws/打开一个终端，运行

source ~/catkin_vinsfusion_ws/devel/setup.bash
rosbag play /home/pl/DataSet/EUROC/MH_02_easy.bag 

实验结果

（1）无回环

无回环

（2）有回环
有回环
绿色的是无回环
红色的是有回环