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Kartik Mohta 2018-03-27 15:19:54 -04:00
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@ -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 ## 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: 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 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) - [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 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 * `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. * `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 roslaunch msckf_vio msckf_vio_euroc.launch
``` ```
or
or
``` ```
roslaunch msckf_vio msckf_vio_fla.launch 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 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 ## ROS Nodes