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XIVO ROS Node

This is a ROS wrapper around XIVO set up for integration into catkin environments with other packages. It uses XIVO as an external library.

Inputs:

  • Monocular RGB images (sensor_msgs/Image) published to the /cam0 topic.
  • IMU data (sensor_msgs/Imu) published to the /imu0 topic.

Outputs: (all are optional)

  • Pose and covariance (geometry_msgs/PoseWithCovarianceStamped) published to /xivo/pose
  • Map data (custom message type FeatureMap) published to xivo/map
  • Pose and calibration state (custom message type FullState) published to /xivo/fullstate
  • (For 2D navigation problems) Motion state (custom message type MotionState2dNav) published to /xivo/twod_nav

Setup

  1. Download and build XIVO.
  2. Set the environment variable XIVO_ROOT to the location of XIVO's repository.
  3. Place this repository into the src folder of a catkin workspace.
  4. Compile the entire catkin workspace using catkin_make.

Examples

Small Project Tango Example

Data was collected on a Lenovo Phab 2.

TUM VIO

Uses the input data of camera 0 and the IMU of the TUM VIO stereo rig. Tested on sequences room1-room6.

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ROS Wrapper for XIVO

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