pi/openvins_linux
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Update 'ReadMe.md'

Browse Source
This commit is contained in:
Иван Подмогильный
2022-08-31 23:19:47 +03:00
parent de2a43ce6e
commit b28888119a
1 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
ReadMe.md
View File

@@ -25,11 +25,14 @@ https://redmine.drivecast.tech/issues/374
3. `cd ../` 3. `cd ../`
4. `catkin build` 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` 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` 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. 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. 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) 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)