From 6d52b92c52fd37bc43aaea146498e15f4046c637 Mon Sep 17 00:00:00 2001 From: Kartik Mohta Date: Tue, 27 Mar 2018 15:19:54 -0400 Subject: [PATCH] README: Small language changes --- README.md | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index f86d065..cba497d 100644 --- a/README.md +++ b/README.md @@ -40,13 +40,13 @@ 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). +First obtain either the [EuRoC](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) or the [UPenn fast flight](https://github.com/KumarRobotics/msckf_vio/wiki/Dataset) 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: +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 named `msckf_vio_euroc.launch` and `msckf_vio_fla.launch` respectively. Each launch files instantiates two ROS nodes: * `image_processor` processes stereo images to detect and track features * `vio` obtains feature measurements from the `image_processor` and tightly fuses them with the IMU messages to estimate pose. @@ -56,22 +56,21 @@ These launch files can be executed via ``` roslaunch msckf_vio msckf_vio_euroc.launch ``` - -or +or ``` roslaunch msckf_vio msckf_vio_fla.launch ``` -Once the nodes are running you need to run the dataset rosbags (on a different terminal), for example: +Once the nodes are running you need to run the dataset rosbags (in a different terminal), for example: ``` rosbag play V1_01_easy.bag ``` -As mentioned in the previous section **The robot is required to start from a stationary state in order to initialize the VIO successfully** +As mentioned in the previous section, **The robot is required to start from a stationary state in order to initialize the VIO successfully.** -To visualize the pose and feature estimations you can use the provided rviz configurations found in `msckf_vio/rviz` folder to visualize corresponding datatset estimations (EuRoC: `rviz_euroc_config.rviz`, Fast dataset: `rvis_fla_config.rviz`). +To visualize the pose and feature estimates you can use the provided rviz configurations found in `msckf_vio/rviz` folder (EuRoC: `rviz_euroc_config.rviz`, Fast dataset: `rviz_fla_config.rviz`). ## ROS Nodes