Using only VIO without mapping & loop closures

NVIDIA-ISAAC-ROS / isaac_ros_visual_slam

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM

https://developer.nvidia.com/isaac-ros-gems

Apache License 2.0

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Using only VIO without mapping & loop closures #30

Closed MrOCW closed 2 years ago

MrOCW commented 2 years ago

Hi, I am building the docker file but it is taking an extremely long time to compile the Foxy dependencies such as rviz and ompl. If I only intend to use VIO, do i still need to install nav2, rviz, ompl, velodyne, triton, tao converter, pytorch, onnx in the docker container?

Thanks

MrOCW commented 2 years ago

Tested, to speed up build just for VIO/vSLAM on a realsense, please remove everything i mentioned on top. There could still be more packages that can be removed. Yet to test.