From 1b65e0e53f3e5c16553b56cde9b91cc642eb63c4 Mon Sep 17 00:00:00 2001 From: Christopher Choi Date: Tue, 27 Mar 2018 14:39:22 -0400 Subject: [PATCH] Add recommended ROS bags --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index 7bab516..b6bbc7e 100644 --- a/README.md +++ b/README.md @@ -40,6 +40,12 @@ The filter uses the first 200 IMU messages to initialize the gyro bias, acc bias ## EuRoC and UPenn Fast flight dataset example usage +First obtain [EuRoC](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) and/or [UPenn fast flight](https://github.com/KumarRobotics/msckf_vio/wiki/Dataset) from [here](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) and [here](https://github.com/KumarRobotics/msckf_vio/wiki/Dataset). + +Recommended EuRoC ROS Bags: +- [Vicon Room 1 01](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_01_easy/V1_01_easy.bag) +- [Vicon Room 1 02](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_easy/V1_02_easy.bag) + Once the `msckf_vio` is built and sourced (via `source /devel/setup.bash`), there are two launch files prepared for the [EuRoC](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) and [UPenn fast flight](https://github.com/KumarRobotics/msckf_vio/wiki/Dataset) dataset with launch files `msckf_vio_euroc.launch` and `msckf_vio_fla.launch` respectively. The launch files instanciates two ROS nodes: * `image_processor` processes stereo images to detect and track features @@ -49,9 +55,11 @@ These launch files can be executed via ``` roslaunch msckf_vio msckf_vio_euroc.launch +``` or +``` roslaunch msckf_vio msckf_vio_fla.launch ```