ubuntu16.04 运行ROVIO

####仅作为笔记
环境：
ubuntu16.04
ROS
kindr
lightweight_filtering

1. kindr

git clone http://github.com/ethz-asl/kindr
cd kindr
mkdir build && cd build
cmake ..
sudo make install

2. opengl

sudo apt-get install build-essential
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libglu1-mesa-dev
sudo apt-get install freeglut3-dev

3. rovio

cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/rovio.git
cd rovio && git submodule update --init --recursive   
catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release   #如果不使用opengl库
catkin_make rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON    #使用opengl库
catkin_make

4. 运行

#数据集下载：http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
#修改rovio/launch/rovio_rosbag_node.launch中的rosbag_filename:
<param name="rosbag_filename" value="你的路径/MH_01_easy.bag"/>
cd ~/catkin_ws
source devel/setup.bash
roslaunch rovio rovio_rosbag_node.launch 

5. 测试结果