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Repository Summary
| Description | |
| Checkout URI | https://github.com/miroboticslab/cyberdog_mivins.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2023-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
README
MIVINS
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu:18.04/20.04 ROS2:galactic
1.2. Ceres Solver
version: 1.14 Follow Ceres Installation.
1.3. Opencv4
cd <source dir>
git clone -b 4.2.0 https://github.com/opencv/opencv
git clone -b 4.2.0 https://github.com/opencv/opencv_contrib
cd opencv
cmake -H. -Bbuild -DCMAKE_BUILD_TYPE=Release -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules
sudo make -Cbuild install -j4
1.4. yaml-cpp
git clone https://github.com/jbeder/yaml-cpp.git
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=ON ..
make
sudo make install
2. Build Mivins
2.1. build mivins_core
NOTE: the APP_TYPE should be ros1(default), ros2, raw, xr;
compile mivins_core:
cd ~/mivins/mivins_core/
mkdir build
cd build
cmake .. -DAPP_TYPE=ros2
make
make install
2.2. build mivins_ros2
cd ~/mivins/mivins_ros2/
colcon build --merge-install
3. RUN
3.1. run mivins_ros2
miloc service is required in both mapping mode and localization mode.
mapping mode:
cd ~/mivins/mivins_ros2/
source install/setup.bash
ros2 launch mivins dog_d430i_stereo_odometry_mapping.py
localization mode:
cd ~/mivins/mivins_ros2/
source install/setup.bash
ros2 launch mivins dog_d430i_stereo_odometry_localization.py
following mode:
cd ~/mivins/mivins_ros2/
source install/setup.bash
ros2 launch mivins dog_d430i_stereo_odometry_following.py
lifecycle command:
mapping lifecycle command:
ros2 lifecycle set /mivinsmapping configure
ros2 lifecycle set /mivinsmapping activate
ros2 service call /namespace/start_vins_mapping std_srvs/srv/SetBool "data: true"
ros2 service call /namespace/stop_vins_mapping cyberdog_visions_interfaces/srv/FinishMap "{finish: true, map_name: "map"}"
ros2 lifecycle set /mivinsmapping deactivate
ros2 lifecycle set /mivinsmapping cleanup
mapping lifecycle command:
ros2 lifecycle set /mivinslocalization configure
ros2 lifecycle set /mivinslocalization activate
ros2 lifecycle set /mivinslocalization deactivate
ros2 lifecycle set /mivinslocalization cleanup
following mode command:
ros2 lifecycle set /mivinsfollowing configure
ros2 lifecycle set /mivinsfollowing activate
ros2 lifecycle set /mivinsfollowing deactivate
ros2 lifecycle set /mivinsfollowing cleanup
CONTRIBUTING
No CONTRIBUTING.md found.
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