[TOC]
Overview
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HKUST-Aerial-Robotics/VINS-kidnap: VINS-Fusion with Cerebro
Install Nvidia Drive and CUDA
Install Docker and Nvidia-Docker
Run MYNT-EYE-S-SDK
roslaunch mynt_eye_ros_wrapper mynteye.launch
VINS-Kidnap Docker
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https://hub.docker.com/r/mpkuse/kusevisionkit
- run docker image
docker run --runtime=nvidia -it \ --add-host `hostname`:172.17.0.1 \ --env ROS_MASTER_URI=http://`hostname`:11311/ \ --env ROS_IP=172.17.0.2 \ --env CUDA_VISIBLE_DEVICES=0 \ --hostname happy_go \ --name happy_go \ mpkuse/kusevisionkit:vins-kidnap bash
- modify yaml config file related to mynteye camera in
/app_deployed/catkin_ws/src/cerebro/config/vinsfusion/mynteye
- run mynteye_vinsfusion
roslaunch cerebro mynteye_vinsfusion.launch
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