在Jetson Xavier NX上运行VINS-Mono

说明

• 测试环境：Jetson Xavier NX + Jetpack4.4.1 + Ubuntu 18.04 + ROS Melodic +
  opencv3.3.1 + ceres 2.0.0 + eigen 3.3.4
• 官方github：https://github.com/HKUST-Aerial-Robotics/VINS-Mono
• 参考教程：https://www.ncnynl.com/archives/202008/3859.html

安装步骤

1、安装opencv3.3.1

我的环境中本来有opencv4.5.4，但据说4版本对VINS-Mono支持不完善，所以又装了opencv3.3.1
参考教程：https://blog.csdn.net/darnell888/article/details/110734510

2、安装ros依赖包

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

3、安装Ceres Solver

因为我的环境中已经装了ceres，所以没有操作这一步。
官方教程：http://ceres-solver.org/installation.html
也可以参考：https://www.ncnynl.com/archives/202008/3859.html

4、安装cv_bridge

这个我也已经装了
可以参考：https://www.ncnynl.com/archives/202008/3859.html

5、下载并编译VINS-Mono源码

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

指定使用opencv版本3.3.1

找到如下包的CMakelist.txt文件

ar_demo
pose_graph  
vins_estimator
camera_model         
feature_tracker 

在find_package(OpenCV REQUIRED)行前面加上

set(OpenCV_DIR /home/nx/my_library/opencv/opencv-3.3.1/build/)
find_package(OpenCV 3.3.1 REQUIRED)

OpenCV_DIR后面是你自己的opencv包路径

出现的错误及解决方法

• 错误1：cv_bridgeConfig.cmake出错
  出现错误类似下面情况：

 CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
  Project 'cv_bridge' specifies '/usr/include/opencv4/opencv' as an include
  dir, which is not found.  It does neither exist as an absolute directory
  nor in '${prefix}//usr/include/opencv4/opencv'.  Check the issue tracker
  'https://github.com/ros-perception/vision_opencv/issues' and consider
  creating a ticket if the problem has not been reported yet.
Call Stack (most recent call first):
  CMakeLists.txt:54 (find_package)


-- Configuring incomplete, errors occurred!

原因：多版本OpenCV出现冲突
解决方法：
参考：https://blog.csdn.net/klsjadkls/article/details/119170761
首先检查opencv cflags：

$ pkg-config --cflags opencv
-I/usr/local/include/opencv -I/usr/local/include

然后修改cv_bridgeConfig.cmake中的内容
找到cv_bridgeConfig.cmake （94行），原内容如下（方便备份）：

if(NOT "include;/usr/include;/usr/include/opencv " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include;/usr/include/opencv")

改成:

 if(NOT "include;/usr/include;/usr/include/opencv " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/local/include/opencv;/usr/local/include")

• 错误2：catkin_make失败

出现错误类似下面情况：

VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/build.make:62: recipe for target 'VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o' failed
make[2]: *** [VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o] Error 4
make[2]: *** Waiting for unfinished jobs....
[ 52%] Linking CXX executable /home/ubuntu/vins-ws/devel/lib/feature_tracker/feature_tracker
[ 52%] Built target feature_tracker
CMakeFiles/Makefile2:2166: recipe for target 'VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/all' failed
make[1]: *** [VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

原因：可能是用于编译的内存或交换空间不够
解决方法：
参考：https://github.com/HKUST-Aerial-Robotics/VINS-Mono/issues/9
官方给出的解决方式是：尝试"catkin_make -j1"，或者一个包一个包编译，顺序是camera_model->feature_tracker->vins_estimator->ar_demo
我尝试"catkin_make -j1"没有用，第二种方法没试，因为重启后这个问题就意外解决了。

6、测试

首先要下载EuRoC数据集
官方地址：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
如果下的很慢，也可以自行百度找网盘资源
测试命令如下：

roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag 

出现的错误及解决方法

• 错误1：vins_rviz.launch运行失败
  出现错误类似下面情况：
  解决方法：在运行之前要加一句source ~/catkin_ws/devel/setup.bash
  参考：https://github.com/HKUST-Aerial-Robotics/VINS-Mono/issues/4
  官方的讨论区还有其他的问题，但我没有碰到，官方给出的建议是vins_rviz.launch只是为了可视化，如果出错无法解决，也可以自己打开rviz添加topics
  我自己踩过的坑：ssh远程控制运行vins_rviz.launch会失败，只要在本地的bash中运行就行