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.

• Launch file launch/xivo.launch, launch/xivo.xml
• Rosbag download link

TUM VIO

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

• Launch file launch/tumvi.launch, launch/tumvi.xml
• Rosbag download link