how to run the project

[izengpan]

hello, the project is brilliant.

I have catkin_make successfully. And the I have depressed all the bag file. every bag file was depressed into three bags according to three topics.

However, I run the code in the way which run VINS successfully:

roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play .bag file

It doesn't work. And I rosbag play three bag files at the same time( of course respond to the same topic ).
So, can you give the exact command of running this project?
Thanks!

[RigerLee]

You are probably suffering from timestamps being out of sync. We use message_filters::sync_policies::ApproximateTime(10), which has at most 10 ms gap between rgb and depth. I recommend that you use one bag file instead of 3 bags.

Also, only realsense_color.launch works currently. If you are using any other launch files, be sure to modify config_path in .launch file.

[Grandzxw]

请问能留个联系方式嘛

[Grandzxw]

您可能正遭受时间戳不同步的困扰。我们使用message_filters :: sync_policies :: roximateTime（10），它在rgb和深度之间的间隔最多为10毫秒。我建议您使用一个文件袋而不是3个文件袋。

此外，目前仅realsense_color.launch有效。如果使用其他启动文件，请确保修改.launch文件中的config_path。

请问你们用的板载电脑是什么啊?TX2还是NUC？或者其他？

[RigerLee]

@Grandzxw NUC

[Grandzxw]

@Grandzxw NUC

我想问下跑Fast数据集的时候，在RVIZ里好像没有看到地图信息。

[Grandzxw]

还想问一下用D534i跑的具体步骤，万分感谢!

[Grandzxw]

你好，这个项目很棒。

我成功拥有catkin_make。而且我已经压抑了所有文件袋。根据三个主题，每个文件袋都被压成三个袋子。

但是，我以成功运行VINS的方式运行代码：

roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag播放.bag文件

没用 我rosbag同时播放三个bag文件（当然是针对同一主题）。
因此，您可以给出运行该项目的确切命令吗？
谢谢！

hello, the project is brilliant.

I have catkin_make successfully. And the I have depressed all the bag file. every bag file was depressed into three bags according to three topics.

However, I run the code in the way which run VINS successfully:

roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play .bag file

It doesn't work. And I rosbag play three bag files at the same time( of course respond to the same topic ).
So, can you give the exact command of running this project?
Thanks!
H棒。

我成功拥有catkin_make。而且我已经压抑了所有文件袋。根据三个主题，每个文件袋都被压成三个袋子。

但是，我以成功运行VINS的方式运行代码：

roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag播放.bag文件

没用 我rosbag同时播放三个bag文件（当然是针对同一主题）。
因此，您可以给出运行该项目的确切命令吗？
谢谢！

hello, the project is brilliant.

I have catkin_make successfully. And the I have depressed all the bag file. every bag file was depressed into three bags according to three topics.

However, I run the code in the way which run VINS successfully:

roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play .bag file

It doesn't work. And I rosbag play three bag files at the same time( of course respond to the same topic ).
So, can you give the exact command of running this project?
Thanks!
Have you run this project successfully?

[RigerLee]

还想问一下用D534i跑的具体步骤，万分感谢!

roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch
然后启动相机

[Grandzxw]

想问下你建图部分程序没开源吗?

[RigerLee]

@Grandzxw
在pose_graph里，这里 的pub_octree负责发布

[Grandzxw]

@Grandzxw
在pose_graph里， 里的pub_octree负责发布

用您提供的数据集跑得话没有建图信息

[RigerLee]

我这边测试可以，18.04LTS
数据集是Handheld Normal.bag

[Grandzxw]

我这边测试可以，18.04LTS
数据集是Handheld Normal.bag

我用的Fast.bag,只有raw image信息。麻烦您说下步骤，launch哪些文件

[RigerLee]

@Grandzxw

先下载数据集：

rosbag decompress bagname.bag
rosbag info bagname.bag检查是否有上面三个topic，没有的话换一个试试（理论上都有）。

然后，开三个终端，分别输入
roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play bagname.bag
如果数据集没问题还不能跑，应该是环境的问题了，需要根据报错信息判断

[Grandzxw]

@Grandzxw

先下载数据集：

rosbag decompress bagname.bag
rosbag info bagname.bag检查是否有上面三个topic，没有的话换一个试试（理论上都有）。

然后，开三个终端，分别输入
roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play bagname.bag
如果数据集没问题还不能跑，应该是环境的问题了，需要根据报错信息判断

好的谢谢

[Grandzxw]

@Grandzxw

先下载数据集：

rosbag decompress bagname.bag
rosbag info bagname.bag检查是否有上面三个topic，没有的话换一个试试（理论上都有）。

然后，开三个终端，分别输入
roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play bagname.bag
如果数据集没问题还不能跑，应该是环境的问题了，需要根据报错信息判断

请问您用NUC能实时的跑这个吗?实时建图

[Grandzxw]

@Grandzxw

先下载数据集：

rosbag decompress bagname.bag
rosbag info bagname.bag检查是否有上面三个topic，没有的话换一个试试（理论上都有）。

然后，开三个终端，分别输入
roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play bagname.bag
如果数据集没问题还不能跑，应该是环境的问题了，需要根据报错信息判断

还想问一下您需要运行realsense ros wrapper时候需要改rs_camera.launch什么参数?

[Grandzxw]

@Grandzxw

先下载数据集：

rosbag decompress bagname.bag
rosbag info bagname.bag检查是否有上面三个topic，没有的话换一个试试（理论上都有）。

然后，开三个终端，分别输入
roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play bagname.bag
如果数据集没问题还不能跑，应该是环境的问题了，需要根据报错信息判断
还想问您一下，用realsense运行时一直出现 imu message disorder!这个错误，想问您之前处理过吗?

[suho0515]

same issue here.
i can see feature tracking, but any 3d pcl data or odometry or path.
i sure checked rosbag information.
and it published three message well.

is there something wrong??

[JunHLiang]

same issue here. i can see feature tracking, but any 3d pcl data or odometry or path. i sure checked rosbag information. and it published three message well.

is there something wrong??

您好，我使用作者提供的数据集，遇到同样的问题，请问有解决方法吗？

[suho0515]

Sorry, I don't have any information to help you. ;(

[JunHLiang]

我已经解决了这个问题，原因是Sophus，需要安装作者提供链接的Sophus库，重新安装后即可