ROS环境下跑orb-slam2 单目相机

1、配置环境、安装ROS ubuntu16.04 + kinetic

2、安装依赖 cmake opencv  Eigen3:

sudo apt-get install libeigen3-dev

3、创建catkin_ws 文件夹，并ROS初始化工作空间

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws/

catkin_make

4、git或者手动下载ORB-SLAM2的源代码

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

5、配置ORB-SLAM2的ROS路径

vim或者gedti  .bahsrc

写如路径

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

source  /opt/ros/kinetic/setup.bash

PATH：改为自己的ORB-SLAM2文件夹的路径 /home/zz/catkin_ws/src

6、source .bashrc   使环境生效

7、下载usbc_cam驱动摄像头安装包

8、编译ORB-SLAM2 的算法库和ROS可执行程序

编译ORB-SLAM2算法库 sudo ./build.sh

 

编译ROS程序 sudo ./build_ros.sh

9、开三个窗口分别运行

roscore

roslaunch usb_cam usb_cam-test.launch
rosrun ORB_SLAM2 Mono  /home/zz/catkin_ws/src/ORB_SLAM2-master/Vocabulary/ORBvoc.txt /home/zz/catkin_ws/src/ORB_SLAM2-master/Examples/Monocular/TUM1.yaml

10、实际效果