VINS-Mono for Client-Server Architecture

This repository contains a client-server version of VINS-Mono. It is based on the original VINS-Mono implementation, with the additional capacity of sending information back to a server fusing the sensory data from multiple robots.
This repository is used in a wider framework for multi-robot path planning, available here.

If you use this VINS-Mono version in your academic work, please cite (PDF):

@inproceedings{bartolomei2020multi,
  title={Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments},
  author={Bartolomei, Luca and Karrer, Marco and Chli, Margarita},
  booktitle={2020 {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  year={2020}
}

Installation

In order to install this VINS-Mono version, follow these steps (tested under Ubuntu 18.04 LTS, ROS Melodic). First, install these dependencies:

$ sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

Then, create a catkin workspace:

$ mkdir -p catkin_ws/src
$ cd catkin_ws

Set-up the workspace:

$ catkin init
$ catkin config --extend /opt/ros/melodic
$ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
$ catkin config --merge-devel

Clone the dependencies:

$ cd ~/catkin_ws/src
$ wstool init
$ wstool merge vins_client_server/dependencies_ssh.rosinstall # To clone with https: vins_client_server/dependencies_https.rosinstall
$ wstool up -j8

Finally, build the package:

$ cd ~/catkin_ws
$ catkin build vins_client_server

For usage and setting of the parameters, we refer to the original VINS-Mono repository.

VIS4ROB-lab/vins_client_server

VINS-Mono for Client-Server Architecture

Installation