add description

README.md

@@ -3,6 +3,8 @@ An implementation of [Visual Inertial ORBSLAM](https://arxiv.org/abs/1610.05949)
 
 No Loop Closure. Not bug-free. Not real-time. Just try the basic ideas of Visual Inertial SLAM in above paper.
 
+Build with `build.sh`. Tested on EuRoc ROS bag data. Modify the path in `config/euroc.yaml`.
+
 Below is the primary README of ORBSLAM2.
 
 # ORB-SLAM2

build.sh

@@ -31,5 +31,20 @@ cmake .. -DCMAKE_BUILD_TYPE=Release
 make -j
 cd ..
 
+echo "Build ROS node ..."
+
+cd Examples/ROS/ORB_VIO
+mkdir build
+cd build
+cmake .. -DROS_BUILD_TYPE=Release
+make -j
+cd ../../../../
+
+echo ""
+echo "Launch file in Examples/ROS/ORB_VIO/launch."
+echo "Modify the configuration file config/euroc.yaml"
+echo "Run as: roslaunch ORB_VIO testeuroc.launch"
+echo ""
+
 #echo "Converting vocabulary to binary"
 #./tools/bin_vocabulary

config/euroc.yaml

@@ -1,5 +1,9 @@
 %YAML:1.0
 
+# Modify test.InitVIOTmpPath and bagfile to the correct path
+# Path to save tmp files/results
+test.InitVIOTmpPath: "/home/jp/opensourcecode/ORB_SLAM2/tmp/"
+
 ## For good initialization (no movement at the beginning for some bag)
 test.DiscardTime: 0
 bagfile: "/home/jp/TimeV1_01_easy.bag"
@@ -22,11 +26,12 @@ bagfile: "/home/jp/TimeV1_01_easy.bag"
 #bagfile: "/media/jp/JingpangPassport/3dataset/EuRoC-VIO/un_restamped/V1_03_difficult.bag"
 #bagfile: "/media/jp/JingpangPassport/3dataset/EuRoC-VIO/un_restamped/V2_03_difficult.bag"
 
+
+#######################################
+
 imutopic: "/imu0"
 imagetopic: "/cam0/image_raw"
 
-# Path to save tmp files/results
-test.InitVIOTmpPath: "/home/jp/opensourcecode/ORB_SLAM2/tmp/"
 
 # Timestamp shift. Timage = Timu + image_delay
 Camera.delaytoimu: 0