VISFS - Visual-IMU Sensors Fusion SLAM

Requirements

• C++17 GCC compiler
• cmake http://www.cmake.org
• Eigen3 https://eigen.tuxfaily.org
• g2o https://github.com/RainerKuemmerle/g2o
• ceres http://www.ceres-solver.org
• ros https://www.ros.org
• opencv https://opencv.org

On Ubuntu / Debian these dependencies are resolved by installing the following packages.

• cmake
• cmake-qt-gui
• libeigen3-dev
• libopencv-dev
• ros-distribution-libg2o

To fix the conflict with g2o installed by ros, which used by rtabmap.Compile the g2o to a static librarry. And set the following options:

• BUILD_LGPL_SHARED_LIBS=OFF
• BUILD_SHARED_LIBS=OFF
• CMAKE_CXX_FLAGS=-fPIC

Compilation

Our primary development platform is Ubuntu. We recommend a so-called out of source build which can be achieved by the following command sequence.

Build VISFS algorithm libarary.

• mkdir build
• cd build
• cmake .. -DCMAKE_BUILD_TYPE=Release
• make

Build the interface of algorithm.

• cd Interface/ROS
• mkdir build
• cmake .. -DROS_BUILD_TYPE=Release
• make

Environment setup

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${YOUR VISFS PATH}/VISFS/Interface/ROS

Launch

Example for build map:

roslaunch VISFS simMapping.launch

Example for localization:

roslaunch VISFS simcar_localization.launch

Debug

roslaunch VISFS simVISFS.launch

Or substitute the code with following:

<node pkg="VISFS" type="VISFSInterfaceROSNode" name="VISFSInterfaceROSNode" output="screen" launch-prefix="gdb -ex run --args">

Message to teammates

The master is a stable branch. The develop a branch to be merge new feature or fix bugs associate with issues.

When need to add a new feature to this repo,

1. Create a issues.
2. Work on a new branch assosiate with new issues.
3. Pull request merge to develop.
4. When test stable, merge to master.

Contact information

• Eddy