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Added VINS-Fusion example.

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matlabbe
2025-11-01 13:09:39 -07:00
parent 1ba62c224e
commit 9963bc06af
1 changed files with 15 additions and 1 deletions
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rtabmap_examples/launch/realsense_d435i_stereo.launch.py
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@@ -3,7 +3,21 @@
# Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
# Example:
# $ ros2 launch rtabmap_examples realsense_d435i_stereo.launch.py
#
#
#
#
# VINS-Fusion example:
# Add to your ros2 workspace the package https://github.com/zinuok/VINS-Fusion-ROS2
# Apply this patch https://gist.github.com/matlabbe/ebbb343cd744da9d6d6d6ded2e1557fd
# -> Revert "#define USE_GPU" change if you want to build VINS-Fusion with GPU support.
# That may be counterintuitive, but we need to build VINS-Fusion first, then rebuild rtabmap with VINS-Fusion support.
# -> in your ros2 workspace, do "colcon build --packages-select vins"
# -> go back under rtabmap library repo, then rebuild/install with "cmake -DWITH_VINS_FUSION=ON ..."
# -> do "colcon build" in your ros2 workspace again to rebuild rtabmap_ros
# $ ros2 launch rtabmap_examples realsense_d435i_stereo.launch.py odom_args:="--Odom/Strategy 9 OdomVINSFusion/ConfigPath ~/ros2_ws/src/VINS-Fusion-ROS2/config/realsense_d435i/realsense_stereo_imu_config.yaml"
# -> set "imu: 1" in realsense_stereo_imu_config.yaml to do stereo inertial odometry, otherwise only stereo odometry is done.
#
import os
from ament_index_python.packages import get_package_share_directory