这个东西主要是用来完整的感受一下gazebo中跑slam框架的感觉 运行方法
roslaunch myorbslamwithros simple_gazebo.launch #启动gazebo在新的终端里面
rosrun teleop_twist_keyboard teleop_twist_keyboard.py #控制车跑来跑去如果找不到这个的话记得apt安装一下
sudo apt-get install ros-kinetic-teleop-twist-keyboard 剩下的部分就是orb_slam2那边的东西了，照着github基本可以运行起来了，具体看这里 比较麻烦的是配置文件这里我直接配置好了
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 554.254691
Camera.fy: 554.254691
Camera.cx: 320.5
Camera.cy: 240.5
Camera.k1: 0.00000001
Camera.k2: 0.00000001
Camera.p1: 0.00000001
Camera.p2: 0.00000001
Camera.k3: 0.00000001
Camera.width: 640
Camera.height: 480
# Camera frames per second
Camera.fps: 20.0
# IR projector baseline times fx (aprox.)
Camera.bf: 40.0
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 40.0
# Deptmap values factor
DepthMapFactor: 1.0
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500
运行效果
