安装VINS-Mono

 

 

准备

git clone https://gitee.com/kay2020/ceres-solver.git

　　

 

 

 

cd ~/catkin_ws/src
git clone https://gitee.com/kay2020/VINS-Mono.git
cd ..
catkin_make

　　

 

修改rs_camera.launch

 

 

修改realsense_color_config.yaml

 

roslaunch realsense2_camera rs_camera.launch 
roslaunch vins_estimator realsense_color.launch 
roslaunch vins_estimator vins_rviz.launch