[系统运维]vslam从入门到入土：在ubuntu18中使用D455运行VINS-FUSION

1.ROS安装

建议使用ROS官方网的步骤??melodic/Installation/Ubuntu - ROS Wiki

一定要看清楚版本 ubuntu18 是 melodic

2.ceres安装

2.1依赖

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev

2.2安装

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j
sudo make install

3. Realsense安装

1.注册公钥：

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

2、添加包仓库列表

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

3.添加库

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

4.运行脚本

git clone https://github.com/IntelRealSense/librealsense
cd librealsense
./scripts/setup_udev_rules.sh

5.编译

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make -j
sudo make install

安装realsense-ros：

mkdir -p ~/VINS_FUSION_ws/src
cd ~/VINS_FUSION_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/VINS_FUSION_ws 
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
cd
echo "source ~/VINS_FUSION_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

测试realsense_ros:

roslaunch realsense2_camera rs_camera.launch

4.VINS-FUSION的安装编译

cd ~/VINS_FUSION_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin_make
echo "source ~/VINS_FUSION_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

4.1修改config

4.1.1

进入VINS-FUSION/config/，复制realsense-d435i这个文件夹并改名为realsense-d455。

4.1.2

进入realsense-d455并修改realsense_stereo_imu_config.yaml

image_width:848

4.1.3

修改left.yaml和right.yaml:

image_width:848

4.2修改launch

进入到VINS_FUSION_ws/src/realsense-ros/realsense2_camera/launch/中打开rs_camera.launch,并修改成：

<arg name="enable_infra"?????? default="true/">

<arg name="enable_infra1"?????? default="true/">

<arg name="enable_infra2"?????? default="true/">

<arg name="enable_gyro"?????? default="true/">

<arg name="enable_accel"?????? default="true/">

<arg name="unite_imu_method"?????? default="linear_interpolation/">

5.运行：

打开新终端：

roslaunch realsense2_camera rs_camera.launch

打开新终端：

roslaunch vins vins_rviz.launch

打开新终端：

rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d455/realsense_stereo_imu_config.yaml