I started working with Kalibr today. Main conclusion: compilation takes quite some time.
To get started, I installed ROS following the website’s instructions. That was quite fast (≤ 10 min). After that, I followed the instructions of Kalibr, which took more than a lunch break (actually, somewhere near 3 hours) and some CMake magic (package Eigen was required, while Ubuntu only knows Eigen3 by default).
Next, I tried to create the right YAML configuration files for the calibration targets (checkerboard, …; copy-paste work), IMU and camera. I got stuck at the IMU part. The order of magnitude of the values given in the example (gyro BRW: 1e-6) do not correspond with the one I found in the XSens manual (gyro bias stability: 1). I asked XSens for help.