ros下运行ORB_SLAM2

先建个workspace，

cd ~
mkdir -p orb2_ws/src
cd orb2_ws
catkin_make

完了把ORB源码放进来
加一下ORB_SLAM2的环境，

# ~/orb2_ws/devel/setup.bash
export 
ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/yhs/orb2_ws/src/ORB_SLAM2_ros/Examples/ROS
#add 到 ~/.bashrc
#add orbslam2_ros
source ~/orb2_ws/devel/setup.bash

检查一下

echo $ROS_PACKAGE_PATH
/home/yhs/orb2_ws/src:
/home/yhs/demo03_ws/src:
/home/yhs/tutorial_ws/src:
/opt/ros/melodic/share:
/home/yhs/orb2_ws/src/ORB_SLAM2_ros/Examples/ROS

cd ~/orb2_ws/src/ORB_SLAM2_ros
chmod +x build.sh build_ros.sh

报错参考
报错参考

启动ROS环境

roscore

修改相机launch文件(/opt/ros/melodic/share/realsense2_camera/launch/rs_camera.launch)
复制一份，因为用的双目，所以关闭结构光

touch rs_camera.launch rs_camera_copy.launch

增加这么一段

  <arg name="allow_no_texture_points"   default="false"/>

  <arg name="emitter_enable"   		   default="0"/>
	
<!-- rosparam set /camera/stereo_module/emitter_enabled false -->
<rosparam>
  /camera/stereo_module/emitter_enabled: 0
</rosparam>

<rosparam if="$(arg emitter_enable)">
  /camera/stereo_module/emitter_enabled: 1
</rosparam>

  <arg name="ordered_pc"                default="false"/>

 roslaunch realsense2_camera rs_camera_copy.launch

根据rostopic list
修改ros_stereo.cc中的话题订阅为

    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/infra1/image_rect_raw", 1);
    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/camera/infra2/image_rect_raw", 1);

新建一个配置文件D435i.yaml，根据

rostopic echo /camera/color/camera_info

重新编译

./build_ros.sh

然后

rosrun ORB_SLAM2 Stereo /home/yhs/orb2_ws/src/ORB_SLAM2_ros/Vocabulary/ORBvoc.txt /home/yhs/orb2_ws/src/ORB_SLAM2_ros/Examples/RGB-D/D435i.yaml false

尝试一下，并未对相机标定，因此ONLINE_RECTIFICATION设置为false