kf-gins-ros

kf-gins-ros

The main works are as follows:

1. Convert the datasets to rosbag
2. A ros version of kf-gins (based on C++)

Configuration

• Ubuntu18.04
• ros-melodic
• Eigen3

Program Compilation and Execution

Attention: you need to check File PATH and ROS Topics.

Execute the following commands to compile the project:

cd  ~/gins_ws/src
git clone https://github.com/slender1031/kf-gins-ros.git
cd ../
catkin_make

Run commands:

source devel/setup.bash
rosrun data_convert data_convert_node
rosrun gins gins_node [path to YAML]

Rviz for visualization:

roslaunch gins gins_rviz.launch

Thanks for the team of Prof. Xiaoji Niu of the Integrated and Intelligent Navigation (i2Nav) group from GNSS Research Center of Wuhan University for providing the open-source KF-GINS software.

感谢武汉大学卫星导航定位技术研究中心多源智能导航实验室(i2Nav)牛小骥教授团队开源的KF-GINS软件平台 (https://github.com/i2Nav-WHU/KF-GINS)

Thanks for the github user zzzzyp-sgg who open-source the tools for data format conversion. (https://github.com/zzzzyp-sgg/SLAM-Tool)