vins-mono运行euroc数据集

一、创建ROS工作空间，并编译VINS-Mono

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

二、运行下载好的euroc数据集bag
进入工作空间后，打开第一个终端

cd ~/catkin_ws
source ~/catkin_ws/devel/setup.bash
roslaunch vins_estimator euroc.launch 

进入工作空间后，打开第二个终端

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

进入工作空间后，打开第三个终端

rosbag play YOUR_PATH_TO_DATASET/MH_05_difficult.bag 

over!