vins-mono-jetson-nano

Installation step of vins-mono on Nvidia Jetson Nano ( JP 4.2.2)

Errors Solutions

# To fix OpenGL related compilation problems 

cd /usr/lib/aarch64-linux-gnu/
sudo ln -sf libGL.so.1.0.0 libGL.so
sudo vim /usr/local/cuda/include/cuda_gl_interop.h

# Comment (line #62~68) of cuda_gl_interop.h 

//#if defined(__arm__) || defined(__aarch64__)
//#ifndef GL_VERSION
//#error Please include the appropriate gl headers before including cuda_gl_interop.h
//#endif
//#else
 #include <GL/gl.h>
//#endif

# Error while compiling cv_bridge 
#Add 0 at the #define NUMPY_IMPORT_ARRAY_RETVAL in the file /usr/include/python2.7/numpy/__multiarray_api.h
![opencv-bridge-img](./img/cv-bridge.png)

After this you can also try

git clone https://github.com/Avi241/vins-mono-jetson-nano.git
cd vins-mono-jetson-nano
chmod +x vins-mono-jetson-install.sh
./vins-mono-jetson-install.sh

Prerequisites

Eigen

#  Remove pre-built Eigen

sudo apt-get remove libeigen3-dev 
cd ~/Downloads/
wget -O eigen.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip #check version
unzip eigen.zip
mkdir eigen-build && cd eigen-build
cmake ../eigen-3.3.7/ && sudo make install
pkg-config --modversion eigen3 # Check Eigen Version

Ceres solver

cd ~/Downloads/
sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
wget http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
mkdir solver && cd ceres-bin
cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver" 

  #good for build without being root privileged and at wanted directory
  
make -j3 # 6 : number of cores
make test
make install
bin/simple_bundle_adjuster ../ceres-solver-1.14.0/data/problem-16-22106-pre.txt # to check version

Opencv

# remove prebuilt opencv
sudo apt-get purge libopencv* python-opencv 
sudo apt-get update
sudo apt-get install -y build-essential pkg-config

## libeigen3-dev # recommend to build from source

sudo apt-get install -y cmake libavcodec-dev libavformat-dev libavutil-dev \
    libglew-dev libgtk2.0-dev libgtk-3-dev libjpeg-dev libpng-dev libpostproc-dev \
    libswscale-dev libtbb-dev libtiff5-dev libv4l-dev libxvidcore-dev \
    libx264-dev qt5-default zlib1g-dev libgl1 libglvnd-dev pkg-config \
    libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev mesa-utils     

sudo apt-get install python2.7-dev python3-dev python-numpy python3-numpy

# Then once linking is done, go to Downloads to begin opencv installation
cd ~/Downloads/
wget -O opencv.zip https://github.com/opencv/opencv/archive/3.4.1.zip # check version
unzip opencv.zip
cd opencv-3.4.1/ && mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D WITH_CUDA=ON \
        -D CUDA_ARCH_BIN=6.2 \
        -D CUDA_ARCH_PTX="" \
        -D ENABLE_FAST_MATH=ON \
        -D CUDA_FAST_MATH=ON \
        -D WITH_CUBLAS=ON \
        -D WITH_LIBV4L=ON \
        -D WITH_GSTREAMER=ON \
        -D WITH_GSTREAMER_0_10=OFF \
        -D WITH_QT=ON \
        -D WITH_OPENGL=ON \
        -D CUDA_NVCC_FLAGS="--expt-relaxed-constexpr" \
        -D WITH_TBB=ON \
         ../
make  # running in single core is good to resolve the compilation issues         
sudo make install
cd ../../ && sudo rm -rf opencv-3.4.1 # optional (can save 10GB Disk Space)
pkg-config --modversion opencv # Check opencv Version

ROS-Melodic

cd ~/Downloads/
git clone https://github.com/Avi241/vins-mono-jetson-nano.git
cd vins-mono-jetson-nano/
chmod a+x installROS.sh setupCatkinWorkspace.sh
./installROS.sh 
./setupCatkinWorkspace.sh

CV-Bridge

cd ~/catkin_ws/src && git clone https://github.com/Avi241/vision_opencv

#  Build the package

$ cd .. && catkin_make

Vins-Mono

cd ~/catkin_ws/src && git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono

sudo apt-get install ros-melodic-tf
sudo apt-get install ros-melodic-image-transport
sudo apt-get install ros-melodic-rviz

cd ~/catkin_ws/
source devel/setup.bash
catkin_make

Try running from the sample dataset

roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag 

More SAmple Datasets here

Jetson Nano

To Add Swap memory of 4GB

sudo fallocate -l 4G /swapfile
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile
sudo swapon --show
sudo cp /etc/fstab /etc/fstab.bak
echo '/swapfile none swap sw 0 0' | sudo tee -a /etc/fstab 

To lock Jetson Nano at its maximum frequency and power mode by running the following commands:

sudo jetson_clocks
sudo nvpmodel -m 0