INDEMIND双目惯性模组运行VINS-Fusion教程

最近使用VIO算法做视觉SLAM，尝试一下VINS-Fusion算法在INDEMIND这款IMU相机上的表现，做以记录。

一、SDK的安装

1、ROS Wrapper版本的安装

make ros

2、开启权限后运行节点，启动ROS Wrapper

cd IMSEE-SDK/
sudo su #开启权限模式
source ros/devel/setup.bash
roslaunch imsee_ros_wrapper start.launch

3、另起终端查看ropicrostopic list

4、选择IMU查看发送内容

rostopic hz /imsee/imu

二、VINS的编译

1、安装环境

（1）安装所需库、依赖

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# SuiteSparse and CXSparse
sudo apt-get install libsuitesparse-dev

（2）安装Eigen3

sudo apt-get install libeigen3-dev

（3）安装Ceres

安装ceres相关依赖

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

tar -zxvf ceres-solver-1.14.0.tar.gz 
cd ceres-solver-1.14.0/
mkdir build
cd build/

cmake ..
make
sudo make install

编译安装

2、编译VINS

cd catkin_ws/src/
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin make
source ~/catkin ws/devel/setup.bash

source /home/geekfanr/catkin_ws/devel/setup.bash
rosrun vins vins_node /home/geekfanr/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml

source /home/geekfanr/catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch

source ros/devel/setup.bash
roslaunch imsee_ros_wrapper start.launch