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Иван Подмогильный
2022-08-31 23:19:47 +03:00
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ReadMe.md
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@@ -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)