Ubuntu 16.04 下 VINS-Kidnap(Docker) 的安装和使用

Overview

• HKUST-Aerial-Robotics/VINS-kidnap: VINS-Fusion with Cerebro

• vins kidnap安装使用

Install Nvidia Drive and CUDA

• ubuntu上安装NVIDIA驱动和cuda9.0，及NVIDIA-Docker

Install Docker and Nvidia-Docker

• 用nvidia-docker跑深度学习模型

Run MYNT-EYE-S-SDK

roslaunch mynt_eye_ros_wrapper mynteye.launch

VINS-Kidnap Docker

• https://hub.docker.com/r/mpkuse/kusevisionkit

• run docker image

  docker run --runtime=nvidia -it \
          --add-host `hostname`:172.17.0.1 \
          --env ROS_MASTER_URI=http://`hostname`:11311/ \
          --env ROS_IP=172.17.0.2 \
          --env CUDA_VISIBLE_DEVICES=0 \
          --hostname happy_go \
          --name happy_go  \
          mpkuse/kusevisionkit:vins-kidnap bash
  

• modify yaml config file related to mynteye camera in

  /app_deployed/catkin_ws/src/cerebro/config/vinsfusion/mynteye
  

• run mynteye_vinsfusion

  roslaunch cerebro mynteye_vinsfusion.launch