MINS Is there a ROS2 version?

Thanks for the great work.

Is there a plan to provide ROS2 support ?

Oct 14 '23 08:10 mzahana

Hi, supporting ROS2 is on todo list. Not sure exactly when I can add the feature, but hopefully soon. I expect the implementation should be similar to how OpenVINS is supporting it.

Oct 14 '23 17:10 WoosikLee2510

@WoosikLee2510 That would be great! Thank you.

Oct 15 '23 11:10 mzahana

@WoosikLee2510 any updates?

Feb 09 '24 12:02 mzahana

@mzahana slowly working on it. Sorry for the delay. If you want to try it yourself, you can refer to OpenVINS to grab how you can implement it - which is what I am working on.

Feb 26 '24 16:02 WoosikLee2510

Is there any way to assist you in porting it to ros2? I would like to use the project in our ros2 system, and also have some time to spend on porting it to ros2. So if you have a branch where you already started that would be great, otherwise I could give it a go.

Are there larger things that need to change in order to port it to ros2, or is it more or less just the things mentioned in here?

Mar 12 '24 09:03 sacovo

I have something that builds and also starts, the simulation also looks good. But testing it with euroc_mav datasets doesn't quite work. I don't understand the math behind the whole thing good enough to figure out, what's going wrong, so if you could have a look at it @WoosikLee2510, that would be great!

I started a pull request in #25

Mar 16 '24 18:03 sacovo

@WoosikLee2510 Any updates on this ?

Apr 23 '24 00:04 mzahana

Hi, @mzahana . I am truly sorry for sitting on this update so long. How is #25? I will try to look into it too... And much appreciated to @sacovo !

May 03 '24 16:05 WoosikLee2510

I think with the QoS thing sorted out it works with ROS2, I get good results with the euroc_mav datasets. I think the code needs some cleaning up, and I think I'll get to that in the next few weeks. @WoosikLee2510 if you have the time to add some comments for me to review I'll have a look at them.

May 08 '24 09:05 sacovo

I created a cleaner port: #38

Aug 07 '24 13:08 sacovo

Thanks @sacovo Does your ros2 branch support GPS and LIDAR ?

Sep 17 '24 20:09 mzahana

We are not using those two sensors on our platform so I can't tell you for sure. In the simulation (with ros2 run mins simulation) it seemed to work with the simulated lidar input.

I think the kitty dataset has both of those, so it might be possible to test it with those datasets.

Regarding Lidar, do you want to use a 2d or a 3d lidar? As far as I can tell the package expects a point cloud, instead of a laser scan, so I think another conversion from ROS message to internal datatype would be required.

Sep 23 '24 06:09 sacovo

@sacovo Thanks for your reply. I would like to fuse 3D LiDAR+GPS+camera+IMU. I will test and share feedback.

Sep 23 '24 08:09 mzahana