vins-mono-ros-version
描述： 这是一个用于深蓝学院教学的代码，她基于 VINS-Mono 框架，但不依赖 ROS, Ceres, G2o。这个代码非常基础，目的在于演示仅基于 Eigen 的后端 LM 算法，滑动窗口算法，鲁棒核函数等等 SLAM 优化中常见的算法。本人将其借口改为ROS的接口并替换掉pangolin用Rviz作为显示 该代码支持 Ubuntu
ros
Eigen
Ceres: vins 初始化部分使用了 ceres 做 sfm，所以我们还是需要依赖 ceres.
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/Guo-ziwei/vins-mono-ros
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bashrosrun vins_mono vins_mono_node
rosbag play ...
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