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ROS wrapper for Kimera-VIO
| Date | Stars |
|---|---|
| 2026-07-24 | 438 |
| 2026-07-25 | 438 |
| 2026-07-28 | 438 |
| 2026-07-30 | 438 |
| 2026-08-06 | 438 |
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# Kimera-VIO-ROS
ROS Wrapper for [Kimera](https://github.com/MIT-SPARK/Kimera).
<div align="center">
<img src="docs/media/Kimera-VIO-ROS_mesh.gif">
</div>
## Publications
We kindly ask to cite our paper if you find this library useful:
- A. Rosinol, M. Abate, Y. Chang, L. Carlone, [**Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping**](https://arxiv.org/abs/1910.02490). IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020. [arXiv:1910.02490](https://arxiv.org/abs/1910.02490).
```bibtex
@InProceedings{Rosinol20icra-Kimera,
title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},
year = {2020},
booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
url = {https://github.com/MIT-SPARK/Kimera},
pdf = {https://arxiv.org/pdf/1910.02490.pdf}
}
```
# 1. Installation
## A. Prerequisities
- Install ROS by following [our reference](./docs/ros_installation.md), or the official [ROS website](https://www.ros.org/install/).
- ROS non-default dependencies for [mesh_rviz_plugins](https://github.com/MIT-SPARK/mesh_rviz_plugins) (change `noetic` for your ROS distribution):
```bash
sudo apt-get install ros-noetic-image-geometry ros-noetic-pcl-ros ros-noetic-cv-bridge
```
- System dependencies:
First, update package list: `sudo apt-get update`
```bash
# For 20.04 (noetic)
sudo apt-get install -y --no-install-recommends apt-utils
sudo apt-get install -y \
cmake build-essential unzip pkg-config autoconf \
libboost-all-dev \
libjpeg-dev libpng-dev libtiff-dev \
# Use libvtk5-dev, libgtk2.0-dev in ubuntu 16.04 \
libvtk7-dev libgtk-3-dev \
libatlas-base-dev gfortran \
libparmetis-dev \
python3-wstool python3-catkin-tools \
```
- GTSAM's Optional dependencies (highly recommended for speed)
Install [Intel Threaded Building Blocks (TBB)](http://www.threadingbuildingblocks.org/): `sudo apt-get install libtbb-dev`
## B. KimeraVIO ROS wrapper Installation
```bash
# Setup catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF
# On Ubuntu 16.04:
# catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_TANGENT_PREINTEGRATION=OFF
catkin config --merge-devel
# Add workspace to bashrc for automatic sourcing of workspace.
echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
# Clone repo
cd ~/catkin_ws/src
# For ssh:
git clone [email protected]:MIT-SPARK/Kimera-VIO-ROS.git
# For https:
# git clone https://github.com/MIT-SPARK/Kimera-VIO-ROS.git
# Install dependencies from rosinstall file using wstool
wstool init # Use unless wstool is already initialized
# For ssh:
wstool merge Kimera-VIO-ROS/install/kimera_vio_ros_ssh.rosinstall
# For https
# wstool merge Kimera-VIO-ROS/install/kimera_vio_ros_https.rosinstall
# download and update repos:
wstool update
# Optionally install all dependencies that you might have missed:
# Some packages may report errors, this is expected
# rosdep install --from-paths . --ignore-src -r -y
```
Finally, compile:
```bash
# Compile code
catkin build
# Refresh workspace
source ~/catkin_ws/devel/setup.bash
```
# 2. Usage
Download a [Euroc](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) rosbag: for example [V1_01_easy](http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_01_easy/V1_01_easy.bag).
## Online
1. As a general good practice, open a new terminal and run: `roscore`
2. In another terminal, launch KimeraVIO ROS wrapper:
```bash
roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch
```
3. In another terminal, launch rviz for visualization:
```bash
rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_euroc.rviz
```
> Note: this rviz configuration makes use of a rviz pExcerpt of 7,779 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
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