yunzc
commented
8 months ago Hi thank you very much for your interest in our work! Let me try my best to outline the steps to set up Kimera-Multi for a general setup.
- Get the single robot odometry working (in our case we run Kimera-VIO. That is what these lines in the example file does. At a high level, you just have to make sure the topics are mapped correctly and that you are pointing to the right folder that has your robot's and sensor's configurations (see our example for VIO here. The outcome of this step is that you should be able to launch VIO on each robot, input stereo images and IMU, and get a reasonable single robot odometry estimate.
- Set up the multi-robot frontend properly. This is encompassed by this launch in our example. The main thing to do here is to get the robot ids and names correct (like this example) and other parameters like the number of robots (these lines here).
- Set up the backend. This is encapsulated by this launch. The main key here is similar to the frontend: to get the robot names, ids, and configs correct (easiest way is to look out our launch file.
- With steps 1. ~ 3. you should be able to get the distributed loop closures and individual robot trajectories. To continue with the dense mesh reconstruction and optimization, which is not shown in our simple example in this repo, see below.
- The module that generates the odometric dense mesh representation is Kimera-Semantics. To get this to work you have to input the correct sensor frame and the correct topics. There is a bit of intricacy to get this to work with the correct semantic-color configurations.
- Lastly, the module that performs the deformation of the mesh and maintains the global consistency of the mesh is Kimera-PGMO. Which takes as input the Kimera-Semantics mesh, the unoptimized pose graph from Kimera-VIO, along with this optimized trajectories from the Kimera-Multi backend.
And that's pretty much it! Hope this helps!
Best, Yun
LauGasp
Hi, I'm new to ROS and need a little help. I'm trying to put Kimera-Multi working with a simulation in gazebo, instead of rosbag, and i was hoping for some guidance, does anyone have a suggestion for what should i change? For now, I'm just using a pioneer 3dx robot and a realsense d435i camera. I've already got the gazebo open with the robot and sensors, the topics are beeing published, but I think I need some tips for what changes i need to do in kimera-multi in order to “run it”.