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stella_vslam_ros

stella_vslam's ROS package.

Documentation

See here.

Install instruction

stella_vslam_ros uses submodules. Clone it with git clone --recursive or download submodules with git submodule update --init --recursive.

Subscribed topics

monocular setup

  • camera/image_raw

stereo setup

  • camera/left/image_raw
  • camera/right/image_raw

RGBD setup

  • camera/color/image_raw
  • camera/depth/image_raw

Published topics

  • ~/camera_pose

Parameters

  • odom_frame
  • map_frame
  • robot_base_frame
  • camera_frame
  • publish_tf
  • transform_tolerance
  • use_exact_time (stereo, RGBD only)

Tutorial

Users unfamiliar with docker, ROS2, or stella_vslam should refer to the tutorial.

TIPS

  • run_slam_offline node allows you to run SLAM by reading the rosbag2 file directly.