SVOをKineticでオフラインで動かす

Environment

Windows10 inter corei7 7500U
Virtual box 5.2
Ubuntu16.04 (ROS kinetic)

ROS

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full
$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Sophus

$ mkdir workspace
$ cd workspace
$ git clone https://github.com/strasdat/Sophus.git
$ cd Sophus
$ git checkout a621ff
$ mkdir build
$ cd build
$ cmake ..
$ make

fast

workspaceに移動
$ git clone https://github.com/uzh-rpg/fast.git
$ cd fast
$ mkdir build
$ cd build
$ cmake ..
$ make

SVO

ホームに移動
$ mkdir catkin_ws
$ mkdir catkin_ws/src
$ cd catkin_ws/src
$ git clone https://github.com/uzh-rpg/rpg_vikit.git
$ git clone https://github.com/uzh-rpg/rpg_svo.git

catkin_wsに移動
$ catkin_make
$ catkin_make install
$ echo "source /path to current directory/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

オフラインデータの取得

$ wget http://rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag

Rviz

$ cp src/rpg_svo/svo_ros/rviz_config.rviz ~/.rviz/default.rviz

ROSを動かす

• 端末1
  $ roscore
• 端末2
  $ rosbag play airground_rig_s3_2013-03-18_21-38-48.bag
• 端末3
  $ roslaunch svo_ros test_rig3.launch
• 端末4
  $ rosrun rviz rviz

参考

http://cvl-robot.hateblo.jp/entry/2014/07/03/162709
http://kivantium.hateblo.jp/entry/2014/07/01/000651
http://wiki.ros.org/ja/kinetic/Installation/Ubuntu