ROS2 node wrapping the ORB_SLAM2 library
If you want to integrate ORB_SLAM2 inside your ROS2 system, consider trying this fork of ORB_SLAM2 library which drops Pangolin dependency and streams all SLAM data through ROS2 topics.
Note: The vision_opencv package requires OpenCV3. Make sure to build ORB_SLAM2 with the same OpenCV version otherwise strange run errors could appear.
The message_filters package is not required if you want to use only the Monocular SLAM node.
This repository contains a Dockerfile providing an Ubuntu environment with all the dependences already installed. In order to use it
$ cd docker_
$ bash build.sh
$ bash run.sh
Note The CMakeLists.txt file contains hardcoded the path to the ORB_SLAM2 source directory. This is used to retrieve header files and shared libraries since these are not installed by ORB_SLAM2.
If you are not using the Dockerfile, change the following line with the actual ORB_SLAM2 path.
set(ORB_SLAM2_DIR /root/ORB_SLAM2)
Run the monocular SLAM node
$ ros2 run orbslam mono PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
This node subscribes to the ROS2 topic camera and waits for Image messages.
For example you can stream frames from your laptop webcam using:
$ ros2 run image_tools cam2image -t camera
You can run the rgbd node by using
$ ros2 run orbslam rgbd PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
You can run the stereo node by using
$ ros2 run orbslam stereo PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY