code clean up

Author: Shuo

.devcontainer/Dockerfile

@@ -6,7 +6,7 @@ RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main"
   apt update 
 
 ENV CERES_VERSION="1.14.0"
-ENV CATKIN_WS=/root/vins_ws
+ENV CATKIN_WS=/root/vilo_ws
 
       # set up thread number for building
 RUN   if [ "x$(nproc)" = "x1" ] ; then export USE_PROC=1 ; \
@@ -85,7 +85,7 @@ RUN apt-get update && apt-get install gnupg2 -y
 # docker run -d \
 # --network host \
 # --cap-add=IPC_LOCK --cap-add=sys_nice \
-# -v ${PATH_TO_THIS_CODE}/tightly-coupled-visual-inertial-leg-odometry:/root/vins_ws/src/vilo \
+# -v ${PATH_TO_THIS_CODE}/tightly-coupled-visual-inertial-leg-odometry:/root/vilo_ws/src/vilo \
 # --device /dev/input \
 # --name vilo_container \
 # vilo_image

.devcontainer/devcontainer.json

@@ -15,8 +15,8 @@
 				"--device=/dev/bus",  "--volume=/dev/serial:/dev/serial:ro",
 				"--volume=${userHome}/.gitconfig:/etc/gitconfig",
 		        "--name=a1_vins_docker_vscode"],
-	"workspaceMount": "source=${localWorkspaceFolder},target=/root/vins_ws/src/vilo,type=bind",
-	"workspaceFolder": "/root/vins_ws/src/vilo"
+	"workspaceMount": "source=${localWorkspaceFolder},target=/root/vilo_ws/src/vilo,type=bind",
+	"workspaceFolder": "/root/vilo_ws/src/vilo"
 	// Use 'forwardPorts' to make a list of ports inside the container available locally.
 	// "forwardPorts": [],
 

README.md

@@ -13,6 +13,10 @@ Here are two videos comparing the performance of the VILO and the VINS-Fusion:
 ## Installation
 use Docker and VSCode ''Remote - Containers''. A dockerfile that configures an individual development environment is shown in .devcontainer/Dockerfile.
 
+The state estimation result can be visualized using Rviz. If the user's computer already has ROS installed then open Rviz directly and load config file config/rviz/vilo_rviz_config.rviz. 
+
+If the user's computer does not have ROS installed, the user can use Rviz inside the docker. However in order to see the Rviz interface the computer must have graphic driver and xhost properly configured. 
+
 
 ## Dataset
 A Google drive folder https://drive.google.com/drive/folders/13GsFDaBkDrslOl9BfE4AJnOn3ECDXVnc
@@ -24,14 +28,16 @@ contains several dataset to test the VILO.
 2. indoor_with_ground_truth_1.bag. The robot moves forward and back quickly. Groundtruh data is 
 
 ## Test On Dataset
-Since the Remote container 
+Since we directly map the code into a location inside the docker (/root/vilo_ws). If we download dataset rosbag to 
+${PATH_TO_CODE_REPO}/bags, the bag file will appear in the docker container as well (/root/vilo_ws/src/vilo/bags)
 
 ```
 roslaunch a1_launch hardware_a1_vilo_together.launch
 # wait for a few seconds
 rosbag play --clock -r 0.5 outdoor_snow.bag
 ```
 Notice the rosbag play should be slow down for slow computers, otherwise the VILO cannot finish computation in time. 
+
 ## Sensor Setup
 The VILO can only works properly when sensor topics are received correctly and all sensor transformations are set properly. 
 

config/a1_config/hardware_a1_vilo_config.yaml

@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/hardware_a1/imu"
 image0_topic: "/camera_forward/infra1/image_rect_raw"
 image1_topic: "/camera_forward/infra2/image_rect_raw"
-output_path: "/root/vins_ws/src/vilo/bags/output"
+output_path: "/root/vilo_ws/src/vilo/bags/output"
 
 cam0_calib: "a1_realsense_left.yaml"
 cam1_calib: "a1_realsense_right.yaml"
@@ -100,5 +100,5 @@ td: 0.00240                             # initial value of time offset. unit: s.
 
 #loop closure parameters
 load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "/root/vins_ws/src/vilo/bags/output/pose_graph/" # save and load path
+pose_graph_save_path: "/root/vilo_ws/src/vilo/bags/output/pose_graph/" # save and load path
 save_image: 0                   # save image in pose graph for visualization prupose; you can close this function by setting 0 

config/a1_config/hardware_a1_vins_config.yaml

@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/hardware_a1/imu"
 image0_topic: "/camera_forward/infra1/image_rect_raw"
 image1_topic: "/camera_forward/infra2/image_rect_raw"
-output_path: "/root/vins_ws/src/vilo/bags/output"
+output_path: "/root/vilo_ws/src/vilo/bags/output"
 
 cam0_calib: "a1_realsense_left.yaml"
 cam1_calib: "a1_realsense_right.yaml"

config/go1_config/hardware_go1_vilo_config.yaml

@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/hardware_go1/imu"
 image0_topic: "/camera_forward/infra1/image_rect_raw"
 image1_topic: "/camera_forward/infra2/image_rect_raw"
-output_path: "/root/vins_ws/src/vilo/bags/output"
+output_path: "/root/vilo_ws/src/vilo/bags/output"
 
 cam0_calib: "go1_realsense_left.yaml"
 cam1_calib: "go1_realsense_right.yaml"
@@ -101,5 +101,5 @@ td: 0.00240                             # initial value of time offset. unit: s.
 
 #loop closure parameters
 load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "/root/vins_ws/src/vilo/bags/output/pose_graph/" # save and load path
+pose_graph_save_path: "/root/vilo_ws/src/vilo/bags/output/pose_graph/" # save and load path
 save_image: 0                   # save image in pose graph for visualization prupose; you can close this function by setting 0 

config/go1_config/hardware_go1_vins_config.yaml

@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/hardware_go1/imu"
 image0_topic: "/camera_forward/infra1/image_rect_raw"
 image1_topic: "/camera_forward/infra2/image_rect_raw"
-output_path: "/root/vins_ws/src/vilo/bags/output"
+output_path: "/root/vilo_ws/src/vilo/bags/output"
 
 cam0_calib: "go1_realsense_left.yaml"
 cam1_calib: "go1_realsense_right.yaml"
@@ -68,5 +68,5 @@ td: 0.00240                             # initial value of time offset. unit: s.
 
 #loop closure parameters
 load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "/root/vins_ws/src/vilo/bags/output/pose_graph/" # save and load path
+pose_graph_save_path: "/root/vilo_ws/src/vilo/bags/output/pose_graph/" # save and load path
 save_image: 0                   # save image in pose graph for visualization prupose; you can close this function by setting 0 

config/hardware_a1_vilo_config.yaml

@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/hardware_a1/imu"
 image0_topic: "/camera_forward/infra1/image_rect_raw"
 image1_topic: "/camera_forward/infra2/image_rect_raw"
-output_path: "/root/vins_ws/src/vilo/bags/output"
+output_path: "/root/vilo_ws/src/vilo/bags/output"
 
 cam0_calib: "left.yaml"
 cam1_calib: "right.yaml"
@@ -100,5 +100,5 @@ td: 0.00240                             # initial value of time offset. unit: s.
 
 #loop closure parameters
 load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "/root/vins_ws/src/vilo/bags/output/pose_graph/" # save and load path
+pose_graph_save_path: "/root/vilo_ws/src/vilo/bags/output/pose_graph/" # save and load path
 save_image: 0                   # save image in pose graph for visualization prupose; you can close this function by setting 0 

config/hardware_a1_vins_config.yaml

@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/hardware_a1/imu"
 image0_topic: "/camera_forward/infra1/image_rect_raw"
 image1_topic: "/camera_forward/infra2/image_rect_raw"
-output_path: "/root/vins_ws/src/vilo/bags/output"
+output_path: "/root/vilo_ws/src/vilo/bags/output"
 
 cam0_calib: "left.yaml"
 cam1_calib: "right.yaml"