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README.md

How to run

  • Set up environment by running . set_up_env.sh
  • Launch flight goggle by roslaunch flightgoggles core.launch ignore_collisions:=0 use_sim_time:=1 (maybe ok with vins_mono to set use_sim_time:=1 [default in core.launch])
  • [For state estimation], roslaunch vins_estimator fg.launch
  • [Optional] Launch vins mono by roslaunch vins_estimator fg_rviz.launch
  • Run python2 run_state_machine_vins_mono_gt.py

We are using Python2 here because tf package is supported in Python2.

  • If running scorer, make sure scorer.py is in same directory when you do rosrun

Caution

  • This issue should have been fixed because of an issue with the Queue, but if you see the action's value is hanging there, stop and rerun the python script immediately.

Installing VINS-Mono

1.1 Ubuntu and ROS Ubuntu 16.04. ROS Kinetic. ROS Installation additional ROS pacakge

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

1.2. Ceres Solver

  1. Download this tar.gz http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
  2. Make sure you have the following dependencies: (copy pasted from http://ceres-solver.org/installation.html)
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
#   add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev
  1. Build, test, and install Ceres.
tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0
make -j3
make test
make install

1.3. Build VINS-Mono on ROS

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash