quickstart.md

Running Hydra

The only dataset that is supported out-of-the-box is uHumans2. To test Hydra out, you can just download a single scene (the office scene without humans is recommended, and can be found here. Make sure to decompress the rosbag (rosbag decompress path/to/bagfile) before running!

⚠️ Also make sure to source the workspace before starting (typically source path/to/catkin_ws/devel/setup.bash, though if you use zsh you should use the correct setup file for that).

To start Hydra:

roslaunch hydra_ros uhumans2.launch

Then, start the rosbag in a separate terminal:

rosbag play path/to/rosbag --clock

Using Kimera-VIO

You can configure your workspace to also include Kimera-VIO by:

roscd && cd ../src
vcs import . < hydra/install/vio_overlay.rosinstall

catkin build

Running Using VIO Only

First, start Kimera:

roslaunch kimera_vio_ros kimera_vio_ros_uhumans2.launch online:=true viz_type:=1 use_lcd:=false

and in a separate terminal, run:

# in separate terminal
roslaunch hydra_ros uhumans2.launch use_gt_frame:=false

Running Using VIO and External Visual Loop Closures

First, start Kimera:

roslaunch kimera_vio_ros kimera_vio_ros_uhumans2.launch online:=true viz_type:=1 \
    use_lcd:=true \
    lcd_no_optimize:=true

and in a separate terminal, run the same command for Hydra:

roslaunch hydra_ros uhumans2.launch use_gt_frame:=false

⚠️ To achieve the best results with Kimera-VIO, you should wait for the LCD vocabulary to finish loading before starting the rosbag.

Running Using VIO and DSG Loop Closures

First, start Kimera:

roslaunch kimera_vio_ros kimera_vio_ros_uhumans2.launch online:=true viz_type:=1 \
     use_lcd:=true \
     lcd_no_detection:=true

and in a separate terminal, run the same command for Hydra:

roslaunch hydra_ros uhumans2.launch use_gt_frame:=false enable_dsg_lcd:=true

⚠️ To achieve the best results with Kimera-VIO, you should wait for the LCD vocabulary to finish loading before starting the rosbag.