Ubuntu18.04运行Vins-Fusion

目录

一. 安装ros

1. Installation

2. Environment setup

3. Dependencies for building packages

4. 安装ros与opencv的桥接工具包

5.验证ros是否安装成功

二.  安装eigen

三. 安装opencv

1. 进入下载opencv的根目录

四. 安装ceres

1. 安装ceres依赖项

2. 进入Ceres的主目录，编译Ceres

五. 编译Vins-Fusion

1. 创建ros工作空间

2. 编译VINS-Fusion

3. 至此VINS-Fusion编译完成，后面需要打开四个shell窗口分别运行ros命令，为了避免每次打开新的shell都需要source，我们将其添加到bash配置文件中

4. 下载EuRoc数据集

5. 运行VINS-Fusion

Monocualr camera + IMU

Stereo cameras + IMU

Stereo cameras

六. 运行效果

一. 安装ros

不同的ubuntu版本对应不同版本的ros，具体可查询ros官网

http://wiki.ros.org/ROS/Installation

ubuntu16.04以及更老的版本对应ROS Kinetic Kame

ubuntu18.04对应ROS Melodic Morenia

ubuntu20.04对应ROS Noetic Ninjemys

下面开始安装ROS Melodic，详细安装教程可以参考下面的官网连接：

http://wiki.ros.org/melodic/Installation/Ubuntu

1. Installation

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 
sudo apt update 
sudo apt install ros-melodic-desktop-full 

2. Environment setup

  If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc 
source ~/.bashrc

3. Dependencies for building packages

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

4. 安装ros与opencv的桥接工具包

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

5.验证ros是否安装成功

roscore

二.  安装e