msckf_vio 0.0.1 Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation Ke Sun Penn Software License Ke Sun Kartik Mohta catkin roscpp std_msgs tf nav_msgs sensor_msgs geometry_msgs eigen_conversions tf_conversions random_numbers message_generation message_runtime nodelet image_transport cv_bridge message_filters pcl_conversions pcl_ros std_srvs libpcl-all-dev libpcl-all suitesparse