Sandeldeng/basalt_ros

ROS wrappers for Basalt VIO

ROS wrappers for Basalt

This repo has ROS1 and ROS2 wrappers for the Basalt VIO/mapper library

Supported systems

ROS Melodic and Eloquent on Ubuntu 18.04LTS

How to install

Clone this repo, and all the submodules along with it:

cd top_of_your_workspace
mkdir src
cd src
git clone --recursive https://github.com/berndpfrommer/basalt_ros.git

Building under ROS2 (Eloquent)

cd top_of_your_workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Building under ROS1 (Melodic)

cd top_of_your_worskapce
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

How to use

Instructions for use:

• For ROS1: see the ROS1 wrapper repo
• For ROS2: see the ROS2 wrapper repo