vins_fusion_ros2

This repository is a ROS 2 adaptation of the original VINS-Fusion project. It supports visual-inertial odometry for both monocular and stereo camera setups, with optional GNSS/IMU fusion for global localization.

Features

• Ported to ROS 2 (Humble and later)
• Compatible with stereo or monocular cameras
• Integration with IMU
• Supports tightly coupled sensor fusion
• Output of odometry and pose

Prerequisites

• System
  • Ubuntu 22.04
  • ROS2 humble
• Libraries
  • OpenCV (with CUDA enabled option)
  • Ceres Solver-2.1.0 (you can refer here; just edit 1.14.0 to 2.1.0 for install.)
  • Eigen-3.3.9
  • glog

Install Dependencies

sudo apt-get install libgoogle-glog-dev libeigen3-dev libceres-dev libopencv-dev 

Build Instructions

cd $(PATH_TO_YOUR_ROS2_WS)/src
git clone git@github.com:yangfuyuan/vins_fusion_ros2.git
cd ..
colcon build --symlink-install && source ./install/setup.bash && source ./install/local_setup.bash

run

# vins
ros2 launch vins_fusion_ros2 vins_fusion_ros2.launch.py

Converting ROS 1 Bag Files to ROS 2 Format

ROS 2 cannot play ROS 1 .bag files directly

Unfortunately, you cannot directly play a .bag file recorded in ROS 1 using ROS 2 tools like ros2 bag play.

This is because:

• ROS 1 .bag files are stored as a single binary file.
• ROS 2 .bag files use a folder-based structure containing:
  • a .db3 SQLite3 database,
  • metadata YAML files.

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Convert ROS 1 .bag to ROS 2 .db3

You can convert ROS 1 .bag files to ROS 2 .db3 format using rosbags.

1. Install rosbags

pip install rosbags

If you're using ~/.local/bin (default for user-level installs), you may need to add it to your shell PATH:

export PATH=$PATH:~/.local/bin

You may also consider putting the above line in your .bashrc or .zshrc.

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2. Convert the .bag file

rosbags-convert --src foo.bag --dst /path/to/output_folder

• foo.bag: your original ROS 1 bag file
• /path/to/output_folder: target folder where converted ROS 2 .db3 bag will be saved

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3. Play the converted bag file

Once conversion is complete, you can play it back using ROS 2 tools:

ros2 bag play /path/to/output_folder

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License

The source code is released under GPLv3 license.

We are still working on improving the code reliability. For any technical issues, please contact Tong Qin <qintonguavATgmail.com>.

For commercial inquiries, please contact Shaojie Shen <eeshaojieATust.hk>.