search

engcang / vins-application

VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, S-MSCKF, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards
BSD 3-Clause "New" or "Revised" License
495 stars 87 forks source link

Can't find the proper launch file for d435i #13

Closed ArghyaChatterjee closed 2 years ago

ArghyaChatterjee commented 2 years ago

Hi, I can't find the file which launches vins fusion node. I have a d435i. I have launched the rs_camera.launch file but stuck in launching node which launches vins/vins estimator. I can't see any launch file. The only launch file that I see is kaist.launch which is configured for stereo camera I think (most probably for T265). Any help is appreciated. Thanks !!

engcang commented 2 years ago

Hi. sorry for late.

You have to launch camera with rs_camera.launch first, then run VINS-Fusion with

$ rosrun vins vins_node absolute_path_to_the_name_of_config_file.yaml

e.g.,

$ rosrun vins vins_node /home/mason/realsense_stereo_imu_config.yaml

You can find proper d435i's config file from here: https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/tree/master/config/realsense_d435i

But, make sure to set the same image width and height in the rs_camera.launch file