相机+IMU+VINS-MONO+VINS-MONO-LET-NET

docker 容器中：

终端1： 打开相机

docker exec -it d38 /bin/bash
source ./devel/setup.bash
roslaunch astra_camera astra_pro.launch

终端2： 打开 imu

docker exec -it d38 /bin/bash
ln -s /dev/ttyUSB0 /dev/fdilink_ahrs # 如果 /dev/fdilink_ahrs 找不到的话执行
roslaunch fdilink_ahrs ahrs_data.launch

终端3： 打开tf

docker exec -it d38 /bin/bash
source ./devel/setup.bash
roslaunch fdilink_ahrs tf.launch

终端4： 打开 rviz

docker exec -it d38 /bin/bash
rviz

终端5： 打开 rqt

docker exec -it d38 /bin/bash
rqt

将之前的 VINS-Mono-LET-Net copy 到 src 下：

终端6： 跑 VINS-Mono(原始的 vins-mono 放在： /root/catkin_ws/src/VINS-Mono)

docker exec -it d38 /bin/bash
cd catkin_ws
rm -r devel build
catkin_make

开启 3 个终端：

roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play /root/LET-NET/datasets/MH_01_easy.bag 

非常简单我们就跑通了。

删除掉：VINS-Mono， 将 VINS-Mono-LET-NET copy 到 catkin_ws/src 下：

否则多个会冲突：

root@h-pc:~/catkin_ws# catkin_make
Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install
Multiple packages found with the same name "ar_demo":
- VINS-Mono-LET-Net/ar_demo
- VINS-Mono/ar_demo
Multiple packages found with the same name "camera_model":
- VINS-Mono-LET-Net/camera_model
- VINS-Mono/camera_model
Multiple packages found with the same name "feature_tracker":
- VINS-Mono-LET-Net/feature_tracker
- VINS-Mono/feature_tracker
Multiple packages found with the same name "pose_graph":
- VINS-Mono-LET-Net/pose_graph
- VINS-Mono/pose_graph
Multiple packages found with the same name "vins_estimator":
- VINS-Mono-LET-Net/vins_estimator
- VINS-Mono/vins_estimator

可能我们再创建一个 ~/catkin_ws_letnet 也行。

这里直接删除掉。

catkin_make

跑 LET-Net

source ./devel/setup.bash
roslaunch vins_estimator my_uma_vi.launch
roslaunch vins_estimator my_vins_rviz.launch
./devel/lib/feature_tracker/my_feature_tracker_illustration
rosbag play  /root/LET-NET/datasets/MH_01_easy.bag

跑自己的设备：

修改这个 四个文件：

但是存在问题：出来的相机直接就跑飞了。估计是参数填的不对。