sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport
sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport
sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport
sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
Eigen官网eigen.tuxfamily.org/index.php?Title=Main_Page下载
git clone https://gitee.com/kay2020/eigen.git cd eigen mkdir build cd build cmake .. sudo make install
sudo apt-get install libsuitesparse-dev
cd git clone https://github.com/ceres-solver/ceres-solver.git cd ceres-solver/ mkdir build cd build cmake .. make -j8 sudo make install
cd ~/catkin_ws/src git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git cd .. catkin_make source ~/catkin_ws/devel/setup.bash
# 测试所需的bag文件：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets roslaunch vins_estimator euroc.launch roslaunch vins_estimator vins_rviz.launch rosbag play MH_01_easy.bag
roslaunch realsense2_camera rs_camera.launch roslaunch vins_estimator realsense_color.launch roslaunch vins_estimator vins_rviz.launch