This repository is ROS2 wrapping to use ORB_SLAM3
-
I have tested on below version.
- Ubuntu 22.04
- ROS2 Humble
- OpenCV 4.5.4
-
Build ORB_SLAM3
- Go to this repo and follow build instruction.
-
Install related ROS2 package
$ sudo apt install ros-$ROS_DISTRO-vision-opencv && sudo apt install ros-$ROS_DISTRO-message-filters
- Clone repository to your ROS workspace
$ mkdir -p colcon_ws/src
$ cd ~/colcon_ws/src
$ git clone https://github.com/zang09/ORB_SLAM3_ROS2.git orbslam3_ros2
$ cd ~/colcon_ws/src/orbslam3_ros2/vocabulary/
$ tar -xf ORBvoc.txt.tar.gz
$ cd
Now, you are ready to build!
$ cd ~/colcon_ws
$ colcon build --symlink-install --packages-select orbslam3
- If you cannot find
sophus/se3.hpp:
Go to yourORB_SLAM3_ROOT_DIRand install sophus library.
$ cd ~/{ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus/build
$ sudo make install
- Please compile with
OpenCV 4.5.4version.
- Source the workspace
$ source ~/colcon_ws/install/local_setup.bash
Install the camera module
$ sudo apt-get install ros-humble-image-tools -y
- Run orbslam mode, which you want.
This repository only supportMONO, STEREO, RGBD, STEREO-INERTIALmode now.
You can find vocabulary file and config file in here. (e.g.orbslam3_ros2/vocabulary/ORBvoc.txt,orbslam3_ros2/config/monocular/TUM1.yamlfor monocular SLAM).
MONOmode
$ ros2 run orbslam3 mono PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
# First terminal
ros2 run image_tools cam2image -t camera -r image:=camera
# Second terminal
ros2 run orbslam3 mono ~/colcon_ws/src/orbslam3_ros2/vocabulary/ORBvoc.txt ~/colcon_ws/src/orbslam3_ros2/config/monocular/TUM1.yaml
STEREOmode
$ ros2 run orbslam3 stereo PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY
RGBDmode
$ ros2 run orbslam3 rgbd PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
STEREO-INERTIALmode
$ ros2 run orbslam3 stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]
To play ros1 bag file, you should install ros1 noetic & ros1 bridge.
Here is a link to demonstrate example of ros1-ros2 bridge procedure.
If you have ros1 noetic and ros1 bridge already, open your terminal and follow this:
(Shell A, B, C, D is all different terminal, e.g. stereo-inertial mode)
- Download EuRoC Dataset (
V1_02_medium.bag)
$ wget -P ~/Downloads http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag
- Launch Terminal
(e.g.ROS1_INSTALL_PATH=/opt/ros/noetic,ROS2_INSTALL_PATH=/opt/ros/foxy)
#Shell A:
source ${ROS1_INSTALL_PATH}/setup.bash
roscore
#Shell B:
source ${ROS1_INSTALL_PATH}/setup.bash
source ${ROS2_INSTALL_PATH}/setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge
#Shell C:
source ${ROS1_INSTALL_PATH}/setup.bash
rosbag play ~/Downloads/V1_02_medium.bag --pause /cam0/image_raw:=/camera/left /cam1/image_raw:=/camera/right /imu0:=/imu
#Shell D:
source ${ROS2_INSTALL_PATH}/setup.bash
ros2 run orbslam3 stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]
- Press
spacebarinShell Cto resume bag file.
This repository is modified from this repository.
To add stereo-inertial mode and improve build difficulites.
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent