https://github.com/ethz-asl/orb_slam_2_ros
ROS interface for ORBSLAM2!!
https://github.com/ethz-asl/orb_slam_2_ros
Last synced: 5 months ago
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ROS interface for ORBSLAM2!!
- Host: GitHub
- URL: https://github.com/ethz-asl/orb_slam_2_ros
- Owner: ethz-asl
- Archived: true
- Created: 2016-12-16T12:50:04.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2019-08-14T18:39:23.000Z (over 5 years ago)
- Last Synced: 2024-05-03T16:21:39.960Z (12 months ago)
- Language: C++
- Size: 63.5 KB
- Stars: 172
- Watchers: 37
- Forks: 69
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
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README
# orb_slam_2_ros
## Overview
This 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)
**Keywords:** ROS, ORB_SLAM2, SLAM
### License
The 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).
**Author(s): Alex Millane
Maintainer: Alex Millane
Affiliation: Autonomous Systems Lab, ETH Zurich**
The 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.
## Installation: building from Source
Install [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics).
Make 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/).
Setup and configure a catkin work space.
```
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --extend /opt/ros/kinetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --merge-devel
```
Get this repo
```
cd src
git clone [email protected]:ethz-asl/orb_slam_2_catkin.git
```
Get the deps
```
wstool init
wstool merge orb_slam_2_ros/dependencies.rosinstall
wstool update -j8
```
Build everything
```
catkin build orb_slam_2_ros
```
## Usage
Before launching the node with an example dataset you need to:
- 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);
- Download and extract the [ORB_SLAM2 vocabulary](https://github.com/raulmur/ORB_SLAM2/blob/master/Vocabulary/ORBvoc.txt.tar.gz).
Run the main node with
roslaunch orb_slam_2_ros run_orb_slam_2.launch vocabulary_file_path:=
Please 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).