RTK/VIO松组合,对惯导精度要求较高。 1.环境配置和编译 安装依赖项: # gcc-8 sudo apt install gcc-8 g++-8 #eigen 、golog、tbb sudo apt install libeigen3-dev libgoogle-glog-dev libtbb-deve #opencv sudo apt install libopencv-dev #yaml sudo apt install libyaml-cpp-dev #ROS参照之前的环境配置文章