VINS-Mono algorithm testing with stereo camera ros bag data.

VINS-Mono is a real-time SLAM framework for Monocular Visual-Inertial Systems. It uses an optimization-based sliding window formulation for providing high-accuracy visual-inertial odometry. In this video, i have tried to running algorithm in my ros enabled system. I completely followed the official ReadMe information given by VINS-Mono package website. Installation instruction as same as given in official website documentation. cd ~/catkin_ws/src cd ../ catkin_make source ~/catkin_ws/devel/setup.bash Running instructions: T1: Running Rviz visualizer with default view setting $ cd ~/catkin_ws $ source devel/setup.bash $ roslaunch vins_estimator vins_rviz.launch T2: Running VINS_mono algorithm. $ cd ~/catkin_ws $ source devel/setup.bash $ roslaunch vins_estimator euroc.launch T3: Navigate inside the bag file store folder location and run bag file from there. $ rosbag play V1_01_easy.bag T4: Inspecting algorithm fusion odometry ros topic rostopic echo /vins_estimator/odometry