VINSFusion algorithm testing with stereo camera ros bag.

VINS-Fusion is an optimization-based multi-sensor state estimator, which achieves accurate self-localization for autonomous applications. In this video, i have tried to running algorithm in my ros enabled system. I completely followed the official ReadMe information given by VINS-Fusion 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 Downloaded the EuRoC MAV Dataset and keeping inside system folder. Running instructions: T1: Running Rviz visualizer with default view setting $ cd ~/catkin_ws $ cd source/devel/setup.bash $ roslaunch vins vins_rviz.launch T2: Running VINS_Fusion algorithm with camera parameters store yaml file. rosrun vins vins_node "location of euroc_stereo_imu_config.yaml stored inside VINS-Fusion/config folder" example: $ cd ~/catkin_ws $ cd source/devel/setup.bash $ rosrun vins vins_node /home/darshan/SLAM/vins_fusion_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml T3: Navigate inside the bag file store folder location and run bag file from there. $ rosbag play MH_01_easy.bag T4: Inspecting algorithm fusion odometry ros topic rostopic echo /vins_estimator/odometry