19 lines
1.1 KiB
Markdown
19 lines
1.1 KiB
Markdown
# Loosely-couples Loop Closure for open_vins
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Refer to the original repository: https://github.com/rpng/ov_secondary
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As for now the repository is not working. It needs an additional development.
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## Installation
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### Requirements
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Refer to the main repository to see the requirements https://git.drivecast.tech/pi/openvins_linux
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### Building
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Install the repository to /catkin_ws_ov/src directory. And from the directory /catkin_ws_ov `catkin build`
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### Running
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1. To run the loop_closure node: in the additional terminal, after starting the ov_msckf node in the catkin_ws_ov directory: `source devel/seutp.bash` and then `roslaunch loop_fusion posegraph.launch`
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2. To see the visualization: in the additional terminal, after starting the loop_fusion node in the catkin_ws_ov directory: `source devel/setup.bash` and then `rviz`, Ctrl+O to open the open file dialogue. Find the visualization config in the /ov_secondary_linux/config/vins_rviz_config.rviz.
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NOTE: If catkin complains during the build, you might need to rename the cloned repository name from ov_secondary_linux to ov_secondary.
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