ubuntu20.04跑通vins-mono
时间: 2023-10-09 18:09:31 浏览: 87
您好!要在Ubuntu 20.04上运行VINS-Mono,您需要按照以下步骤进行操作:
1. 安装依赖项:
```bash
sudo apt-get update
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev
```
2. 安装ROS(如果尚未安装):
```bash
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
```
3. 创建一个ROS工作空间:
```bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
```
4. 克隆VINS-Mono的代码库:
```bash
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
```
5. 安装依赖项:
```bash
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
```
6. 编译代码:
```bash
cd ~/catkin_ws
catkin_make -j2
```
7. 设置环境变量:
```bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
```
8. 运行VINS-Mono:
打开终端并输入以下命令:
```bash
roslaunch vins_estimator euroc.launch
```
这些步骤应该能帮助您在Ubuntu 20.04上成功运行VINS-Mono。如果您遇到任何问题,请随时询问我。祝您成功!
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