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

Dependencies

Make sure you have added your SSH keys to your Github account. For more info check connecting-to-github-with-ssh.

Robot Operating System (ROS) (middleware for robotics),

catkin_simple

 cd ~/catkin_workspace/src
 git clone git@github.com:catkin/catkin_simple.git # cloning over SSH (github account needed)
 # git clone https://github.com/catkin/catkin_simple.git # cloning over HTTPS (no github account needed)

catkinized version of the orb_slam_2

 cd ~/catkin_workspace/src
 git clone git@github.com:ethz-asl/orb_slam_2_catkin.git # cloning over SSH (github account needed)
 # git clone https://github.com/ethz-asl/orb_slam_2_catkin.git # cloning over HTTPS (no github account needed)

image_undistort

 cd ~/catkin_workspace/src
 git clone git@github.com:ethz-asl/image_undistort.git # cloning over SSH (github account needed)
 # git clone https://github.com/ethz-asl/image_undistort.git # cloning over HTTPS (no github account needed)

pangolin_catkin

 cd ~/catkin_workspace/src
 git clone git@github.com:uzh-rpg/pangolin_catkin.git # cloning over SSH (github account needed)
 # git clone https://github.com/uzh-rpg/pangolin_catkin.git # cloning over HTTPS (no github account needed)

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd ~/catkin_workspace/src
git clone git@github.com:ethz-asl/orb_slam_2_ros.git # cloning over SSH (github account needed)
# git clone https://github.com/ethz-asl/orb_slam_2_ros.git # cloning over HTTPS (no github account needed)
cd ../
catkin build orb_slam_2_ros

By building the higher level package orb_slam_2_ros you will even compile its dependencies. This includes the compilation of orb_slam_2_catkin, which will automatically install the original library ORB_SLAM2 in your system, meaning you do not need to do anything else to then use ORB_SLAM2.

Usage

PART UNDER REVIEW! DO NOT USE THE FOLLOWING CODE AS IT DOES NOT WORK YET!

~~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~~.

hermannsblum/orb_slam_2_ros