VINSMono

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

　　

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

sudo apt-get install cmake

　　

sudo apt-get install libgoogle-glog-dev

　　

sudo apt-get install libatlas-base-dev

　

Eigen官网eigen.tuxfamily.org/index.php?Title=Main_Page下载

git clone https://gitee.com/kay2020/eigen.git
cd eigen
mkdir build
cd build
cmake ..
sudo make install

　　

sudo apt-get install libsuitesparse-dev

　　

cd
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver/
mkdir build
cd build
cmake ..
make -j8
sudo make install

　　

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash

　　

# 测试所需的bag文件：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
rosbag play MH_01_easy.bag

　　

roslaunch realsense2_camera rs_camera.launch 
roslaunch vins_estimator realsense_color.launch 
roslaunch vins_estimator vins_rviz.launch