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orbslam3-odometry

Introduction

This repository is ROS2 wrapping to use ORB_SLAM3 and to publish ORB_SLAM3 Odometry on ROS2 topic.

Prerequisites

I have tested on below version:

  • Ubuntu 20.04
  • ROS2 Foxy
  • Opencv 4.5.0
  • 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 this repository
git clone https://github.com/Il-castor/orbslam3-odometry.git
  1. Change this line to your own python site-packages path
  2. Change this line to your own ORB_SLAM3 path

Build

colcon build --symlink-install

Troubleshootings

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

How to use

  1. Source the workspace
$ source install/local_setup.bash

  1. Modify parameters in config/orbslam3_odometry.yaml according to your system settings. Follow these instructions.

  2. Launch

$ ros2 launch orbslam3_odometry orbslam3-odometry_launch.py

To stop the node press ctrl-c and this save ORB_SLAM3 statistics txt in your folder.