HR-zju/vinsfusion-gps

vins-mono松紧耦合gps

eruoc

IMU+mono

KAIST Example

5.1 mono + imu

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/kaist/kaist_mono_imu_config.yaml
rosbag play YOUR_DATASET_FOLDER/yourbag.bag

5.2 mono + imu + gps(紧耦合)

same as EuRoC Example(using kaist_mono_imu_localFusionGps_config.yaml as the input parameter).

roslaunch vins vins_rviz.launch
rosrun vins vins_node src/vinsfusion-gps/config/KAIST/kaist_mono_imu_localFusionGps_config.yaml
rosbag play YOUR_DATASET_FOLDER/yourbag.bag

5.2 mono + imu + gps(松耦合)

same as EuRoC Example(using kaist_mono_imu_localFusionGps_config.yaml as the input parameter).

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/kaist/kaist_mono_imu_config.yaml
rosrun global_fusion global_fusion_node
rosbag play YOUR_DATASET_FOLDER/yourbag.bag

ZJUT

Vins-mono

roslaunch vins vins_rviz.launch

rosrun vins vins_node src/vinsfusion-gps/config/zjut/zjut_mono_imu_config.yaml 

Vins-mono + GPS

roslaunch vins vins_rviz.launch

rosrun vins vins_node src/vinsfusion-gps/config/zjut/zjut_mono_imu_config.yaml 

rosrun global_fusion global_fusion_node