Ros2 Humble package to test orbSLAM3 on gazebo.
Tested on: Ubuntu 22.04 Opencv 4.5.4
How to install:
mkdir ~/workspace
cd ~/workspace
mkdir src
-- Clone repositories:
clone this project:
clone orbslam3 project and follow the installation process: https://github.com/zang09/ORB_SLAM3_ROS2.git
-- Build the project:
colcon build
source install/setup.sh
--To test:
- launch gazebo: ros2 launch article world.launch.py
- run keyboard control ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/article
- run orbslam3 ros2 run orbslam3 mono orbslam3_ros2/vocabulary/ORBvoc.txt orbslam3_ros2/config/monocular/EuRoC.yaml
To plot the trajectory and save in a file:
python3 plot_trajectory.py KeyFrameTrajectory.txt