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

Keywords: ROS, ORB_SLAM2, SLAM

License

The source code is released under a GPLv3 license as is the underlying library 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) (middleware for robotics).

Make sure you have added your SSH keys to your Github account. For more info check 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 (for example the one called "Machine Hall 001") (containing rosbag to play and camera calibration);
• Download and extract the ORB_SLAM2 vocabulary.

Run the main node with

roslaunch orb_slam_2_ros run_orb_slam_2.launch vocabulary_file_path:=<PATH_TO_EXTRACTED_ORB_SLAM2_VOCABULARY>

Please not that this version of orb_slam_2_ros DOES NOT rectify images, that is why we are using stereo_undistort_node.