Running ROVIO

1. Installation

(1) ROS
(2) kindr
$ git clone https://github.com/ethz-asl/kindr
$ mkdir build

$ cd build 

$ cmake .. 

$ sudo make install

(3) lightweight_filtering
$ mkdir -p ~/workspace_rovio/src
$ cd ~/workspace_rovio
$ catkin_make
$ cd src
$ git clone https://github.com/ethz-asl/rovio.git
$ cd rovio
$ git submodule update --init --recursive 

2. Compile

$ cd ~/workspace_rovio
$ catkin_make rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON
$ catkin_make

3. Testing

*Modify the bagfile path in rovio_rosbag_node.launch

$ roscore

$ cd ~/workspace_rovio
$ source devel/setup.bash
$ roslaunch rovio rovio_node.launch

$ rosbag play "bagfile path"

Reference:
[1] https://github.com/ethz-asl/rovio
[2] https://github.com/ethz-asl/kindr
[2] https://www.cnblogs.com/Jessica-jie/p/6607719.html