解决catkin指令找不到问题并运行PL-VIO

解决catkin指令找不到问题:

运行PL-VIO过程中，提示找不到catkin指令。find_package(catkin) failed;

安装catkin过程中提示错误: catkin : 依赖: python-catkin-pkg 但是它将不会被安装。

考虑到如果安装ros成功会自带catkin，之前博主成功安装过ROS，可以参照之前的博文:

https://mp.csdn.net/console/editor/html/103150788

所以考虑为ros安装文件受损。

重新安装:

sudo apt-get install ros-kinetic-desktop-full
roscore

roscore(如果能够启动ros，证明修复成功);

source ~/.bashrc (设置环境变量 )

sudo updatedb (手动更新数据库)

 locate catkin (可查看catkin所有的安装目录);

运行PL-VIO:

安装 Ubuntu 16.04. ROS Kinetic。SLAM运行环境配置可以参考博主的博文:https://blog.csdn.net/neptune4751/article/details/108936754 ;额外的ROS包安装:

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

更新opencv3:

sudo apt-get install ros-kinetic-opencv3

 在ROS上创建PL-VIO:

  cd ~/catkin_ws/src
    git clone https://github.com/HeYijia/PL-VIO.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

 运行仿真数据库:

开启两个终端，在catkin_ws目录下运行指令分别为:

source ~/catkin_ws/devel/setup.bash
roslaunch plvio_estimator simdata_fix.launch

source ~/catkin_ws/devel/setup.bash
roslaunch plvio_estimator vins_rviz.launch 

 

EuRoC数据库运行:

feature.bag:开启三个终端:

source ~/catkin_ws/devel/setup.bash
roslaunch plvio_estimator euroc_fix_offline.launch 

source ~/catkin_ws/devel/setup.bash
roslaunch plvio_estimator vins_rviz.launch 

source ~/catkin_ws/devel/setup.bash
rosbag play -r 5 src/PL-VIO/config/mh05_feature.bag 

 

以MH_05为例，运行EuRoc数据库:

source ~/catkin_ws/devel/setup.bash
roslaunch plvio_estimator euroc_fix_extrinsic.launch 

source ~/catkin_ws/devel/setup.bash
roslaunch plvio_estimator vins_rviz.launch 

source ~/catkin_ws/devel/setup.bash
 rosbag play -r 0.2 src/PL-VIO/config/euroc/MH_05_difficult.bag 

 

另外，由于每次编译都需要在终端执行 source ~/catkin_ws/devel/setup.bash，比较麻烦，解决办法:

可以将其设置在环境变量中:

在catkin_ws目录下，设置环境变量

source devel/setup.bash:

gedit ~/.bashrc

在最后一行加上:source ~/catkin_ws/devel/setup.bash