{"id":19198202,"url":"https://github.com/ethz-asl/orb_slam_2_ros","last_synced_at":"2025-04-20T10:32:59.781Z","repository":{"id":39420123,"uuid":"76653449","full_name":"ethz-asl/orb_slam_2_ros","owner":"ethz-asl","description":"ROS interface for ORBSLAM2!!","archived":true,"fork":false,"pushed_at":"2019-08-14T18:39:23.000Z","size":65,"stargazers_count":173,"open_issues_count":3,"forks_count":69,"subscribers_count":38,"default_branch":"master","last_synced_at":"2024-11-09T12:23:09.740Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ethz-asl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2016-12-16T12:50:04.000Z","updated_at":"2024-10-04T11:01:04.000Z","dependencies_parsed_at":"2022-09-20T03:10:06.797Z","dependency_job_id":null,"html_url":"https://github.com/ethz-asl/orb_slam_2_ros","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Forb_slam_2_ros","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Forb_slam_2_ros/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Forb_slam_2_ros/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Forb_slam_2_ros/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ethz-asl","download_url":"https://codeload.github.com/ethz-asl/orb_slam_2_ros/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":249881840,"owners_count":21339547,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-09T12:20:28.081Z","updated_at":"2025-04-20T10:32:59.546Z","avatar_url":"https://github.com/ethz-asl.png","language":"C++","funding_links":[],"categories":["ORB-SLAM2 related codes"],"sub_categories":["Different platforms"],"readme":"# orb_slam_2_ros\n\n## Overview\n\nThis package integrates orb_slam_2 into ROS in what we believe to be a more user friendly way than what is offered by the original library [ORB_SLAM2](https://github.com/raulmur/ORB_SLAM2)\n\n**Keywords:** ROS, ORB_SLAM2, SLAM\n\n### License\n\nThe source code is released under a [GPLv3 license](https://github.com/raulmur/ORB_SLAM2/blob/master/License-gpl.txt) as is the underlying library [ORB_SLAM2](https://github.com/raulmur/ORB_SLAM2).\n\n**Author(s): Alex Millane\nMaintainer: Alex Millane\nAffiliation: Autonomous Systems Lab, ETH Zurich**\n\nThe orb_slam_2_ros package has been tested under ROS Indigo on Ubuntu 14.04 and under ROS Kinetic Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.\n\n\n## Installation: building from Source\n\nInstall [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics).\n\nMake sure you have added your SSH keys to your Github account. For more info check [connecting-to-github-with-ssh](https://help.github.com/articles/connecting-to-github-with-ssh/).\n\nSetup and configure a catkin work space.\n\n```\nmkdir -p ~/catkin_ws/src\ncd ~/catkin_ws\ncatkin init\ncatkin config --extend /opt/ros/kinetic\ncatkin config --cmake-args -DCMAKE_BUILD_TYPE=Release\ncatkin config --merge-devel\n```\nGet this repo\n\n```\ncd src\ngit clone git@github.com:ethz-asl/orb_slam_2_catkin.git\n```\nGet the deps\n\n```\nwstool init\nwstool merge orb_slam_2_ros/dependencies.rosinstall\nwstool update -j8\n```\n\nBuild everything\n\n```\ncatkin build orb_slam_2_ros\n```\n\n## Usage\n\nBefore launching the node with an example dataset you need to:\n - Download a dataset you can use to run this package from [EUROC](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) (for example the one called \"Machine Hall 001\") (containing rosbag to play and camera calibration);\n - Download and extract the [ORB_SLAM2 vocabulary](https://github.com/raulmur/ORB_SLAM2/blob/master/Vocabulary/ORBvoc.txt.tar.gz).\n\nRun the main node with\n\n    roslaunch orb_slam_2_ros run_orb_slam_2.launch vocabulary_file_path:=\u003cPATH_TO_EXTRACTED_ORB_SLAM2_VOCABULARY\u003e\n\nPlease not that this version of orb_slam_2_ros **DOES NOT** rectify images, that is why we are using  [stereo_undistort_node](https://github.com/ethz-asl/image_undistort#stereo_undistort_node).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Forb_slam_2_ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fethz-asl%2Forb_slam_2_ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Forb_slam_2_ros/lists"}