Limo: Lidar-Monocular Visual Odometry 安装与运行

## Objectives - Compile and run demo of Limo ## Introduction - Limo: Lidar-Monocular Visual Odometry - My forked repo: ```sh git clone --recursive 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 ```sh cd limo/docker docker-compose build ``` - Start docker ```sh docker-compose up docker-compose exec limo bash ``` ## Run demo ```sh 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 ``` ## 安装与运行 Demo: https://www.youtube.com/embed/ZFmG08TE6bw ## Possible Errors ### Eigen related when run: ```sh docker-compose build ``` see: ```sh [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 ``` ```sh /workspace/limo_ws/src/limo/robust_optimization/src/robust_solving.cpp:9:10: fatal error: Eigen/Dense: No such file or directory #include ^~~~~~~~~~~~~ compilation terminated. ``` Solution: The path of eigen is: ```sh /usr/include/eigen3 ``` ### ython-tk Error: ```sh ImportError: No module named _tkinter, please install the python-tk package ``` Solution: ```sh apt install python-tk ```