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ROS2 Package

Installation

Requirements

  • ROS2 : foxy or later.
  • stella_vslam <chapter-installation>
  • image_common : Required by this ROS package examples.
  • vision_opencv : Please build it with the same version of OpenCV used in stella_vslam.
  • image_tools : An optional requirement to use USB cameras.

Prerequisites

Tested for Ubuntu 20.04.

Please install the following dependencies.

  • ROS2 : Please follow Installation of ROS2.
  • stella_vslam : Please follow Installation of stella_vslam <chapter-installation>.

Download repositories of image_common and vision_opencv.

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b ${ROS_DISTRO} --single-branch https://github.com/ros-perception/image_common.git
git clone -b ros2 --single-branch https://github.com/ros-perception/vision_opencv.git

For using USB cam as a image source, donload a repository of demos and pick image_tools module.

cd ~/ros2_ws
git clone https://github.com/ros2/demos.git
cp -r demos/image_tools src/
rm -rf demos

Build Instructions

When building with support for PangolinViewer, please specify the following cmake options: -DUSE_PANGOLIN_VIEWER=ON and -DUSE_SOCKET_PUBLISHER=OFF as described in build of stella_vslam <section-build-unix>. stella_vslam and stella_vslam_ros need to be built with the same options.

cd ~/ros2_ws/src
git clone --recursive --branch ros2 --depth 1 https://github.com/stella-cv/stella_vslam_ros.git
cd ~/ros2_ws
colcon build --symlink-install --cmake-args -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF

Examples

Publisher

Publish Images by a video

ros2 run image_publisher image_publisher_node ./aist_living_lab_1/video.mp4 --ros-args --remap /image_raw:=/camera/image_raw

Publish Images Captured by a USB Camera

For using a standard USB camera for visual SLAM or localization.

ros2 run image_tools cam2image

Republish the ROS topic to /camera/image_raw.

ros2 run image_transport republish \
    raw in:=image raw out:=/camera/image_raw

Subscriber

Subscribers continually receive images. Please execute one of the following command snippets in the new terminal.

Tracking and Mapping

We provide an example snippet for visual SLAM. The source code is placed at stella_vslam_ros/src/run_slam.cc.

source ~/ros2_ws/install/setup.bash
ros2 run stella_vslam_ros run_slam \
    -v /path/to/orb_vocab.fbow \
    -c /path/to/config.yaml \
    --map-db-out /path/to/map.msg

Localization

We provide an example snippet for localization based on a prebuilt map. The source code is placed at stella_vslam_ros/src/run_slam.cc.

source ~/ros2_ws/install/setup.bash
ros2 run stella_vslam_ros run_slam \
    --disable-mapping \
    -v /path/to/orb_vocab.fbow \
    -c /path/to/config.yaml \
    --map-db-in /path/to/map.msg