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