1. Prerequisites
1.1 Ubuntu and ROS Ubuntu 16.04. ROS Kinetic. ROS Installation additional ROS pacakge
sudo apt-get install ros-YOUR_DISTRO-cv-bridge ros-YOUR_DISTRO-tf ros-YOUR_DISTRO-message-filters ros-YOUR_DISTRO-image-transport
1.2. Ceres Solver Follow Ceres Installation, remember to make install. (Our testing environment: Ubuntu 16.04, ROS Kinetic, OpenCV 3.3.1, Eigen 3.3.3)
安装Ceres Solver:用git安装怎么都下载不下来,后来换成从高博slam十四讲的第三方库中下载下来,然后安装的
http://www.ceres-solver.org/installation.html
Start by installing all the dependencies.
# 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 # Eigen3 sudo apt-get install libeigen3-dev # SuiteSparse and CXSparse (optional) # - If you want to build Ceres as a *static* library (the default) # you can use the SuiteSparse package in the main Ubuntu package # repository: sudo apt-get install libsuitesparse-dev # - However, if you want to build Ceres as a *shared* library, you must # add the following PPA: sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687 sudo apt-get update sudo apt-get install libsuitesparse-dev
Ceres Solver编译后,需要sudo make install
3.安装OpenCV 3.3.0:
https://github.com/opencv/opencv/releases/tag/3.3.0
Source code(zip)
按照高博slam十四讲的opencv的安装方法安装的,后来由于安装过程中把cv-bridge卸载了导致openCV编译出错,所以opencv安装前,要再安装下cv-bridge/
opencv编译后,需要sudo make install
ros-kinectic-cv-bridge
4. Build VINS-Mono on ROS
cd ~/vins_mono_catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ../
catkin_make
source devel/setup.bash
刚开始按照教程中catkin_ws/src,目录下编译,出错,因为里面有ceres solver 和opencv。后来重新换了一个文件夹,就编译通过了。运行前记得source devel/setup.bash。