VINS-Mono: Autonomous Navigation on Turtlebot 2e

[teddyluo]

Hi @qintonguav @shaozu @PeiliangLi,
VINS-Mono is a great job. I am now working on a job: using VINS-Mono as the odometry, and let the robot (like turtlebot 2e) autonomously navigate on a room. In this scenario, the challenge is how to put the VINS-Mono outputs into the ROS move_base framework. The effect is the same as what the RTAB-Map method does:

http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot#If_you_don.27t_have_the_robot%EF%BC%89

Can you give some examples/guidelines on how to accomplish this job? My hardware platform includes:

• Turtlebot 2e
• a mynteye stereo camere

Many thanks.

[arjunskumar]

@teddyluo Are you able to solve it?