raphael/msckf_vio
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add recommended ROS bags

Browse Source
This commit is contained in:
Christopher Choi 2018-03-27 14:39:22 -04:00 committed by GitHub
parent 97bbc5a52c
commit 1b65e0e53f
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
README.md
View File

@ -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 ## 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 <path to catkin_ws>/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: Once the `msckf_vio` is built and sourced (via `source <path to catkin_ws>/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 * `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 roslaunch msckf_vio msckf_vio_euroc.launch
```
or or
```
roslaunch msckf_vio msckf_vio_fla.launch roslaunch msckf_vio msckf_vio_fla.launch
``` ```