GVINS 跑起来

GVINS:github

1. GVINS编译:

具体依赖看上面的官方说明，ROS C++11就不说了，Eigen，Ceres跑别的VSLAM装过，还需要再安装gnss_comm，方法如下：

# clone到src下
# 依赖
git clone https://github.com/HKUST-Aerial-Robotics/gnss_comm.git

继续clone源码

# clone到src下
# 源码
git clone https://github.com/HKUST-Aerial-Robotics/GVINS.git
# 编译
cd .. && catkin_make

ubuntu 16.04下我遇到的问题：

error: ‘integer_sequence’ is not a member of ‘std’

修改CMakeLists.txt 将设置c++标准的 可以用vscode全局搜索
set(CMAKE_CXX_FLAGS "-std=c++11")
替换为
set(CMAKE_CXX_STANDARD 14)

继续catkin_make，我这就通过了。

2. 数据集下载

https://github.com/HKUST-Aerial-Robotics/GVINS-Dataset

参考：

1. https://blog.csdn.net/Heiwa_cc/article/details/119804853
2. https://github.com/HKUST-Aerial-Robotics/GVINS
3. https://blog.csdn.net/qq_34213260/article/details/118321513