From b28888119a8ac7f954822eb16d21a14019de74ae Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Wed, 31 Aug 2022 23:19:47 +0300 Subject: [PATCH] Update 'ReadMe.md' --- ReadMe.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ReadMe.md b/ReadMe.md index cb4e883..ee97bba 100644 --- a/ReadMe.md +++ b/ReadMe.md @@ -25,11 +25,14 @@ https://redmine.drivecast.tech/issues/374 3. `cd ../` 4. `catkin build` -### Running +### Running 1. from terminal in `~/workspace/catkin_ws_ov/` directory `source devel/setup.bash` and then `roslaunch ov_msckf subscribe.launch config:=kaist` 2. from second terminal in same directory `source devel/setup.bash` and then `roslaunch global_fusion global_fusion.launch` 3. from 3d terminal in same directory `source devel/setup.bash` and then `rviz`, and open the open_vins/ov_msckf/launch/display.rviz configuration file. 4. from 4th terminal in same directory `source devel/setup.bash` and then `rviz`, and open the openv_vins/global_fusion/launch/display.rviz` file. +5. from 5th terminal in the dataset bag directory: `rosbag play merged.bag gps_fix.bag` + +#### To run the kaist complex-urban dataset please download the bag file from /mnt/disk-small/podmivan/datasets/complex_urban/urban32-yeouido/bag/ directory. You need to download merged2.bag and gps_fix.bag files. There is a problem with publishing the cubes to two different topics: to the VIO and to the GPS-VIO frames. I have to find the workaround for this problem. For now you can see the AR cubes in the rviz which shows VIO (from ov_msckf directory)