ORB_SLAM3_ROS2

This repository is ROS2 wrapping to use ORB_SLAM3

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Demo Video

Prerequisites

• 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

How to build

1. Clone repository to your ROS workspace

mkdir -p colcon_ws/src
cd ~/colcon_ws/src
git clone https://github.com/Projeto-Voris/ORB_SLAM3_ROS2.git orbslam3_ros2

2. Change this line to your own python site-packages path

3. Change this line to your own ORB_SLAM3 path

Now, you are ready to build!

cd ~/colcon_ws
colcon build --symlink-install --packages-select orbslam3_ros2

Troubleshootings

1. If you cannot find sophus/se3.hpp:
   Go to your ORB_SLAM3_ROOT_DIR and install sophus library.

cd ~/{ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus/build
sudo make install

2. Please compile with OpenCV 4.5.4 version.

How to use

1. Source the workspace

source ~/colcon_ws/install/local_setup.bash

2. Run orbslam mode, which you want.
   This repository only support MONO, STEREO, RGBD, STEREO-INERTIAL mode now.
   You can find vocabulary file and config file in here. (e.g. orbslam3_ros2/vocabulary/ORBvoc.txt, orbslam3_ros2/config/monocular/TUM1.yaml for monocular SLAM).

• MONO mode

ros2 run orbslam3 mono PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE

• STEREO mode

ros2 run orbslam3 stereo PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY

• RGBD mode

ros2 run orbslam3 rgbd PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE

• STEREO-INERTIAL mode

ros2 run orbslam3 stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]

Acknowledgments

This repository is modified from this repository.