双系统Ubuntu 18.04 + ROS Melodic + openvins +VINS-mono + Realsense L515 环境配置

Ubuntu 18.04

准备工作

电脑图标右键“管理”–“磁盘管理” ，选择空闲空间的D或E盘右键“压缩卷”压缩102400（100G）
下载ubuntu-18.04.6-desktop-amd64.iso

https://repo.huaweicloud.com/ubuntu-releases/18.04/

准备2GB以上U盘，清空
下载，并运行Rufus，选择ubuntu-18.04.6-desktop-amd64.iso，其他全默认
状态为准备就绪后关闭

http://rufus.ie

安装双系统

U盘保持插入状态，开机且在进入系统前进入Boot mode(一般是猛按F12）

注意：不同电脑进入Boot mode的按键不一样，具体根据电脑品牌查询。且需disable secure boot control

选择UEFI:Generic Flash Disk … 回车
Install跟着步骤走，完事

国内镜像源

参考方法二

https://zhuanlan.zhihu.com/p/61228593

ROS Melodic

安装Melodic

https://blog.csdn.net/qq_41450811/article/details/99079041?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164186594816780271534700%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164186594816780271534700&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-99079041.pc_search_result_cache&utm_term=ubuntu18.04%E5%AE%89%E8%A3%85ros&spm=1018.2226.3001.4187

如果rosdep出错，参考如下：

http://obgeqwh.top/rosdep-update-read-operation-time-out

OpenVins

https://zhuanlan.zhihu.com/p/93814423

VINS-mono

ceres

http://ceres-solver.org/installation.html#linux

多个终端：

source devel/setup.bash
roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play V1_01_easy.bag 

Realsense L515

准备工作

Librealsense

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

下面这个也得安装

sudo apt-get install librealsense2-dev
sudo apt-get install ros-melodic-ddynamic-reconfigure

测试

realsense-viewer

连接L515测试有没有画面

Realsense_ros

https://github.com/IntelRealSense/realsense-ros

注：realsense-ros 要和 librealsense 版本匹配，比如 realsense-ros 是否Supported RealSense SDK
LibRealSense v2.50.0

USB2.0

使用USB2.0接入电脑时，需要修改图像及IMU信息节点才会正常发布：

  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="depth_width"         default="320"/>
  <arg name="depth_height"        default="240"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="infra_width"         default="320"/>
  <arg name="infra_height"        default="240"/>
  <arg name="enable_infra"        default="true"/>

  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="100"/>
  <arg name="unite_imu_method"    value="copy"/>

测试

roslaunch realsense2_camera rs_camera.launch

另一个端口：

rosrun rviz rviz -d display.rviz

将frame选为camera link，查看imu，image（需要调节topic为：/camera/imu /camera/color/image_raw ）是否正常显示

跑openvins

参考：

https://blog.csdn.net/hongliyu_lvliyu/article/details/115697202?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164196497116780265481064%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fblog.%2522%257D&request_id=164196497116780265481064&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~blog~first_rank_ecpm_v1~rank_v31_ecpm-3-115697202.nonecase&utm_term=RGB-D%E7%9B%B8%E6%9C%BA%E5%BB%BA%E5%9B%BE&spm=1018.2226.3001.4450

更改pgeneva_ros_eth.launch，连接自己的相机，不使用数据包

    <arg name="max_cameras" default="1" />
    <arg name="use_stereo"  default="false" />
    <!-- bag topics -->
    <param name="topic_imu"      type="string" value="/camera/imu" />
    <param name="topic_camera0"  type="string" value="/camera/color/image_raw" />

source devel/setup.bash
roslaunch ov_msckf pgeneva_ros_eth.launch