Compile and run demo of Limo

Objectives

• Compile and run demo of Limo

Introduction

• Limo: Lidar-Monocular Visual Odometry
• My forked repo: https://github.com/yubaoliu/limo.git

Build manually

Refer steps in dockerfile: https://github.com/johannes-graeter/limo/blob/master/docker/src/Dockerfile

Use Docker

• Build

cd limo/docker
docker-compose build

• Start docker

docker-compose up

docker-compose exec limo bash

Run demo

roslaunch demo_keyframe_bundle_adjustment_meta kitti_standalone.launch

rosbag play 04.bag -r 0.1 --pause --clock

rviz -d ${your_catkin_workspace}/src/demo_keyframe_bundle_adjustment_meta/res/default.rviz

Demo

安装与运行

Possible Errors

Eigen related

when run:

 docker-compose build

see:

[build] Note: Workspace packages have changed, please re-source setup files to use them.
ERROR: Service 'limo' failed to build: The command '/bin/sh -c /bin/bash -c 'source /opt/ros/melodic/setup.bash && catkin build'' returned a non-zero code: 1

/workspace/limo_ws/src/limo/robust_optimization/src/robust_solving.cpp:9:10: fatal error: Eigen/Dense: No such file or directory
 #include <Eigen/Dense>
          ^~~~~~~~~~~~~
compilation terminated.

Solution:

The path of eigen is:

/usr/include/eigen3

ython-tk

Error:

ImportError: No module named _tkinter, please install the python-tk package

Solution:

apt install python-tk

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