Mono-VINS ElevationMapping

Original Github of elevation_mapping | Mono-VINS-ElevationMapping

# 安装kindr，在当前代码的工作空间
git clone https://github.com/anybotics/kindr.git
cd kindr
mkdir build
cd build
cmake ..
sudo make install

#安装Turtlebot3仿真依赖
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 添加上面的源后，再添加ROS的官方源（通常已存在，但确保一下）
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt update
sudo apt-get install ros-noetic-turtlebot-*
sudo apt install ros-noetic-turtlebot3*

运行 turtlebot3 simulation

roslaunch elevation_mapping_demos turtlesim3_waffle_demo.launch

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

运行成功，下面可视化截图以及rqt_graph

VINS-Mono+Elevation Mapping

运行下面脚本

sh VINS_Mono_20.04/script/run.sh

参考资料

• Robot-Centric Elevation Mapping