# ros2-vio-node

**Repository Path**: kaiserkatze/ros2-vio-node

## Basic Information

- **Project Name**: ros2-vio-node
- **Description**: 视觉惯性里程计
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-03-28
- **Last Updated**: 2026-07-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: Cpp, ROS

## README

# 使用方法
```bash
# 编译
rm -rf build install log
colcon build --packages-select euroc_vio --event-handlers console_direct+
source ~/vio_ws/install/local_setup.sh

# 生成仿真数据
ros2 run euroc_vio VisualSim
# 运行单目惯性里程计
ros2 launch euroc_vio mono.py
# 运行双目惯性里程计
ros2 run euroc_vio StereoSlam --visualize mav0
ros2 launch euroc_vio stereo.py
# 查看活跃话题列表及其消息类型
ros2 topic list -t
# 查看指定话题 (真值轨迹)
ros2 topic echo /ground_truth/path nav_msgs/msg/Path
# 为单目惯性里程计优化 ESKF 超参数
ros2 run euroc_vio opt.py --config config.yaml
```