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modify path for VINS

This commit is contained in:
Your Name 2020-11-22 09:59:29 +08:00
parent ca53cd2b79
commit 397bfc648d
6 changed files with 8 additions and 8 deletions
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2
coordination/task_assignment

@ -1 +1 @@
Subproject commit 5586cb84650f3b384305f074b4eb658afd8132bf
Subproject commit 57e251bbc6d889743c0ce3f5b4552a68c0fdc0e4

2
sensing/object_detection_and_tracking/darknet_ros

@ -1 +1 @@
Subproject commit 05a7d63026ae8bc9a83f0bf9c6ad35e39707fff6
Subproject commit b5ae1e64a25dab8a19b6c49bb0b9417b5d1ff6de

4
sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_mono_imu_config.yaml
View File

@ -7,7 +7,7 @@ num_of_cam: 1
imu_topic: "/iris_0/imu_gazebo"
image0_topic: "/iris_0/stereo_camera/left/image_raw"
output_path: "/home/robin/catkin_ws/vins_output"
output_path: "~/catkin_ws/vins_output"
cam0_calib: "cam0_pinhole_p1.yaml"
image_width: 752
@ -56,5 +56,5 @@ td: 0.0 # initial value of time offset. unit: s. rea
#loop closure parameters
load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
pose_graph_save_path: "/home/robin/catkin_ws/vins_output/pose_graph/" # save and load path
pose_graph_save_path: "~/catkin_ws/vins_output/pose_graph/" # save and load path
save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0

2
sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_config.yaml
View File

@ -8,7 +8,7 @@ num_of_cam: 2
imu_topic: "/iris_0/imu_stereo"
image0_topic: "/iris_0/stereo_camera/left/image_raw"
image1_topic: "/iris_0/stereo_camera/right/image_raw"
output_path: "/home/robin/catkin_ws/vins_output"
output_path: "~/catkin_ws/vins_output"
cam0_calib: "cam0_pinhole_p1.yaml"
cam1_calib: "cam1_pinhole_p1.yaml"

4
sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml
View File

@ -8,7 +8,7 @@ num_of_cam: 2
imu_topic: "/iris_0/imu_gazebo"
image0_topic: "/iris_0/stereo_camera/left/image_raw"
image1_topic: "/iris_0/stereo_camera/right/image_raw"
output_path: "/home/robin/catkin_ws/vins_output"
output_path: "~/catkin_ws/vins_output"
cam0_calib: "cam0_pinhole_p1.yaml"
cam1_calib: "cam1_pinhole_p1.yaml"
@ -69,5 +69,5 @@ td: 0.0 # initial value of time offset. unit: s. rea
#loop closure parameters
load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
pose_graph_save_path: "/home/robin/catkin_ws/vins_output/pose_graph/" # save and load path
pose_graph_save_path: "~/catkin_ws/vins_output/pose_graph/" # save and load path
save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0

2
sensing/slam/vio/xtdrone_vins_run.sh
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@ -1,2 +1,2 @@
rosrun vins vins_node /home/robin/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml &
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml &
roslaunch vins vins_rviz.launch