vslam

ORB_SLAM2 ROS/catkin

• PureLocalization
• build map

INSTALL

Depends

• DBoW2

cd orb_slam2_ros/Thirdparty/DBoW2
mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

• g2o

cd g2o/Thirdparty/g2o
mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

catkin_make

Edit launch file

 <param name = "PureLocalization" type ="bool" value = "true" />

RUN

  roslaunch orb_slam2_ros orb_slam2.launch