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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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Is there a ROS2 version? #7

Open mzahana opened 1 year ago

mzahana commented 1 year ago

Thanks for the great work.

Is there a plan to provide ROS2 support ?

WoosikLee2510 commented 1 year ago

Hi, supporting ROS2 is on todo list. Not sure exactly when I can add the feature, but hopefully soon. I expect the implementation should be similar to how OpenVINS is supporting it.

mzahana commented 1 year ago

@WoosikLee2510 That would be great! Thank you.

mzahana commented 8 months ago

@WoosikLee2510 any updates?

WoosikLee2510 commented 7 months ago

@mzahana slowly working on it. Sorry for the delay. If you want to try it yourself, you can refer to OpenVINS to grab how you can implement it - which is what I am working on.

sacovo commented 7 months ago

Is there any way to assist you in porting it to ros2? I would like to use the project in our ros2 system, and also have some time to spend on porting it to ros2. So if you have a branch where you already started that would be great, otherwise I could give it a go.

Are there larger things that need to change in order to port it to ros2, or is it more or less just the things mentioned in here?

sacovo commented 7 months ago

I have something that builds and also starts, the simulation also looks good. But testing it with euroc_mav datasets doesn't quite work. I don't understand the math behind the whole thing good enough to figure out, what's going wrong, so if you could have a look at it @WoosikLee2510, that would be great!

I started a pull request in #25

mzahana commented 5 months ago

@WoosikLee2510 Any updates on this ?

WoosikLee2510 commented 5 months ago

Hi, @mzahana . I am truly sorry for sitting on this update so long. How is #25? I will try to look into it too... And much appreciated to @sacovo !

sacovo commented 5 months ago

I think with the QoS thing sorted out it works with ROS2, I get good results with the euroc_mav datasets. I think the code needs some cleaning up, and I think I'll get to that in the next few weeks. @WoosikLee2510 if you have the time to add some comments for me to review I'll have a look at them.

sacovo commented 2 months ago

I created a cleaner port: #38

mzahana commented 4 weeks ago

Thanks @sacovo Does your ros2 branch support GPS and LIDAR ?

sacovo commented 3 weeks ago

We are not using those two sensors on our platform so I can't tell you for sure. In the simulation (with ros2 run mins simulation) it seemed to work with the simulated lidar input.

I think the kitty dataset has both of those, so it might be possible to test it with those datasets.

Regarding Lidar, do you want to use a 2d or a 3d lidar? As far as I can tell the package expects a point cloud, instead of a laser scan, so I think another conversion from ROS message to internal datatype would be required.

mzahana commented 3 weeks ago

@sacovo Thanks for your reply. I would like to fuse 3D LiDAR+GPS+camera+IMU. I will test and share feedback.