写在前面

1、本文内容
realsenseD435i运行vins-mono

2、平台
ubuntu1804, ros melodic
3、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/126777778

准备

编译vins-mono:

https://github.com/HKUST-Aerial-Robotics/VINS-Mono

修改launch:

realsense:

找到realsense的launch文件，
将./launch/nodelet_realsense.launch.xml复制并重命名为nodelet_realsense.launch.xml，修改：

arg name=“enable_gyro” default=“true”
arg name=“enable_accel” default=“true”
arg name=“enable_sync” default=“true”
arg name=“unite_imu_method” default=“linear_interpolation”

将rs_d435_camera_with_model.launch复制并重命名为rs_d435_vins.launch
修改里面的
/launch/includes/nodelet.launch.xml为
/launch/includes/nodelet_realsense.launch.xml

vins-mono:

连接realsensen

# 启动realsense
roslaunch realsense2_camera rs_d435_vins.launch
# 查看内参信息
rostopic echo /camera/color/camera_info

修改./config/realsense/realsense_color_config.yaml:

imu_topic: “/camera/imu”
image_topic: “/camera/color/image_raw”
output_path改成自己的

修改刚才获取的内参；

estimate_extrinsic: 2
rolling_shutter: 0

运行

按顺序：

roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch
roslaunch realsense2_camera rs_d435_vins.launch

参考

https://www.cnblogs.com/cqu123/p/15567365.html
https://blog.csdn.net/z1872385/article/details/123653310

完

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