Ubuntu 16.04 下 VINS-Kidnap(Docker) 的安装和使用


[TOC]

Overview

Install Nvidia Drive and CUDA

Install Docker and Nvidia-Docker

Run MYNT-EYE-S-SDK

roslaunch mynt_eye_ros_wrapper mynteye.launch

VINS-Kidnap Docker

  • https://hub.docker.com/r/mpkuse/kusevisionkit

  • run docker image
    docker run --runtime=nvidia -it \
            --add-host `hostname`:172.17.0.1 \
            --env ROS_MASTER_URI=http://`hostname`:11311/ \
            --env ROS_IP=172.17.0.2 \
            --env CUDA_VISIBLE_DEVICES=0 \
            --hostname happy_go \
            --name happy_go  \
            mpkuse/kusevisionkit:vins-kidnap bash
    
  • modify yaml config file related to mynteye camera in
    /app_deployed/catkin_ws/src/cerebro/config/vinsfusion/mynteye
    
  • run mynteye_vinsfusion
    roslaunch cerebro mynteye_vinsfusion.launch
    



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