一、安装依赖
1、sudo apt-get install python-wstool python-catkin-tools protobuf-compiler autoconf
2、sudo apt-get install ros-melodic-cmake-modules
二、编译工作空间
1、mkdir -p ~/catkin_ws/src
2、cd ~/catkin_ws/
3、catkin init
4、catkin config --extend /opt/ros/melodic # Change `melodic` to your ROS distro
5、catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
6、catkin config --merge-devel
7、echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
8、cd ~/catkin_ws/src
9、git clone git@github.com:MIT-SPARK/Kimera-Semantics.git
10、wstool init # Use unless wstool is already initialized
11、wstool merge Kimera-Semantics/kimera/install/kimera_semantics_ssh.rosinstall
12、wstool update
13、catkin build kimera
14、source ~/catkin_ws/devel/setup.bash
三、运行
1、下载数据集https://drive.google.com/file/d/1SG8cfJ6JEfY2PGXcxDPAMYzCcGBEh4Qq/view?usp=sharing,保存到./kimera_semantics_ros/rosbag/kimera_semantics_demo.bag
2、启动ros节点:roscore
3、roslaunch kimera_semantics_ros kimera_semantics.launch play_bag:=true
4、rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_gt.rviz
四、非语义运行(使用上面下载的数据集)
1、使用上面下载的数据集
2、启动ros节点:roscore
3、roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch run_stereo_dense:=true
4、roslaunch kimera_semantics_ros kimera_semantics_euroc.launch
5、rosbag play V1_01_easy.bag --clock
6、rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_euroc.rviz