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ORB_SLAM3_ROS2

This repository is ROS2 wrapping to use ORB_SLAM3

Demo Video

orbslam3_ros2

Prerequisites

  • I have tested on below version.

    • Ubuntu 22.04
    • ROS2 Humble
    • OpenCV 4.5.4

  • Build ORB_SLAM3

    • Go to this repo and follow build instruction.

  • 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 repository to your ROS workspace
$ mkdir -p colcon_ws/src
$ cd ~/colcon_ws/src
$ git clone https://github.com/zang09/ORB_SLAM3_ROS2.git orbslam3_ros2

  1. Change this line to your own python site-packages path

  2. Change this line to your own ORB_SLAM3 path

Now, you are ready to build!

$ cd ~/colcon_ws
$ colcon build --symlink-install --packages-select orbslam3

Troubleshootings

  1. 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
  1. Please compile with OpenCV 4.5.4 version.

How to use

  1. Source the workspace
$ source ~/colcon_ws/install/local_setup.bash
  1. Run orbslam mode, which you want.
    This repository only support MONO, STEREO, RGBD, STEREO-INERTIAL mode now.
    You can find vocabulary file and config file in here. (e.g. orbslam3_ros2/vocabulary/ORBvoc.txt, orbslam3_ros2/config/monocular/TUM1.yaml for monocular SLAM).
  • MONO mode
$ ros2 run orbslam3 mono PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
  • STEREO mode
$ ros2 run orbslam3 stereo PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY
  • RGBD mode
$ ros2 run orbslam3 rgbd PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
  • STEREO-INERTIAL mode
$ ros2 run orbslam3 stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]

Run with rosbag

To play ros1 bag file, you should install ros1 noetic & ros1 bridge.
Here is a link to demonstrate example of ros1-ros2 bridge procedure.
If you have ros1 noetic and ros1 bridge already, open your terminal and follow this:
(Shell A, B, C, D is all different terminal, e.g. stereo-inertial mode)

  1. Download EuRoC Dataset (V1_02_medium.bag)
$ wget -P ~/Downloads http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag
  1. Launch Terminal
    (e.g. ROS1_INSTALL_PATH=/opt/ros/noetic, ROS2_INSTALL_PATH=/opt/ros/foxy)
#Shell A:
source ${ROS1_INSTALL_PATH}/setup.bash
roscore

#Shell B:
source ${ROS1_INSTALL_PATH}/setup.bash
source ${ROS2_INSTALL_PATH}/setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge

#Shell C:
source ${ROS1_INSTALL_PATH}/setup.bash
rosbag play ~/Downloads/V1_02_medium.bag --pause /cam0/image_raw:=/camera/left /cam1/image_raw:=/camera/right /imu0:=/imu

#Shell D:
source ${ROS2_INSTALL_PATH}/setup.bash
ros2 run orbslam3 stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]
  1. Press spacebar in Shell C to resume bag file.

Acknowledgments

This repository is modified from this repository.
To add stereo-inertial mode and improve build difficulites.