ORB-SLAM Localizer with External Reference Mapping This is a localizer node that uses maps generated from built-in mapper. Requirements: - Eigen - PCL - OpenCV - OpenGL - GLEW - GLUT Mapping HOWTO 1) Prepare ROS bag files containing both image streams and ground truth pose (may be separated). Ground truth pose must be in message type "geometry_msgs/ PoseStamped". 2) Make a copy of configuration file config/orb-slam2.yaml.in to some place, and edit it to put your configurations regarding: - Camera parameters - Localization output 3) Run the script orb_mapping.launch: $ roslaunch orb_localizer orb_mapping.launch \ config_file:=<path_to_orb-slam-config> \ external_pose_topic:=<topic_of_map_ground_truth_pose> \ Please wait until visualization windows is open 4) Play the bags in slow rate 5) To stop mapping, press Ctrl+C in the console