VINS-Mono

一.将VINS-Mono的代码下载到本地并编译

~：cd ~/catkin_ws/src
~：git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
~：cd ../
~：catkin_make
~：source ~/catkin_ws/devel/setup.bash

二.下载测试用的bag文件（ EuRoC MAV Dataset）

数据集地址：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

三.新开三个cmd窗口，分别运行

~：roslaunch vins_estimator euroc.launch 
~：roslaunch vins_estimator vins_rviz.launch
~：rosbag play  rosbag play MH_05_difficult\ \(1\).bag 

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