MIVINS

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu:18.04/20.04 ROS2:galactic

1.2. Ceres Solver

version: 1.14 Follow Ceres Installation.

1.3. Opencv4

cd <source dir>
git clone -b 4.2.0 https://github.com/opencv/opencv
git clone -b 4.2.0 https://github.com/opencv/opencv_contrib
cd opencv
cmake -H. -Bbuild -DCMAKE_BUILD_TYPE=Release -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules
sudo make -Cbuild install -j4

1.4. yaml-cpp

git clone https://github.com/jbeder/yaml-cpp.git
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=ON ..
make
sudo make install

2. Build Mivins

2.1. build mivins_core

NOTE: the APP_TYPE should be ros1(default), ros2, raw, xr;
compile mivins_core:
cd ~/mivins/mivins_core/
mkdir build
cd build
cmake .. -DAPP_TYPE=ros2
make
make install

2.2. build mivins_ros2

cd ~/mivins/mivins_ros2/
colcon build --merge-install

3. RUN

3.1. run mivins_ros2

miloc service is required in both mapping mode and localization mode.

mapping mode:

cd ~/mivins/mivins_ros2/
source install/setup.bash  
ros2 launch mivins dog_d430i_stereo_odometry_mapping.py    

localization mode:

cd ~/mivins/mivins_ros2/
source install/setup.bash 
ros2 launch mivins dog_d430i_stereo_odometry_localization.py

following mode:

cd ~/mivins/mivins_ros2/
source install/setup.bash 
ros2 launch mivins dog_d430i_stereo_odometry_following.py

lifecycle command:

mapping lifecycle command:
ros2 lifecycle set /mivinsmapping configure
ros2 lifecycle set /mivinsmapping activate
ros2 service call /namespace/start_vins_mapping std_srvs/srv/SetBool "data: true"
ros2 service call /namespace/stop_vins_mapping cyberdog_visions_interfaces/srv/FinishMap "{finish: true, map_name: "map"}"  
ros2 lifecycle set /mivinsmapping deactivate 
ros2 lifecycle set /mivinsmapping cleanup 

mapping lifecycle command:
ros2 lifecycle set /mivinslocalization configure
ros2 lifecycle set /mivinslocalization activate
ros2 lifecycle set /mivinslocalization deactivate 
ros2 lifecycle set /mivinslocalization cleanup 

following mode command:
ros2 lifecycle set /mivinsfollowing configure
ros2 lifecycle set /mivinsfollowing activate
ros2 lifecycle set /mivinsfollowing deactivate 
ros2 lifecycle set /mivinsfollowing cleanup