1,安装ORB_SLAM2
参考安装,不是一番风顺会有一些坑
2,安装astra相机
注意要安装openin,再去安装功能包
安装
3,RGB-D实时跑
参考
启动相机
roslaunch astra_camera astra.launch
启动SLAM
rosrun ORB_SLAM2 RGBD /home/jianzhuozhu/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/jianzhuozhu/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml
节点如图
4,仿真环境下面的建图
对应点节点在/home/jianzhuozhu/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc,修改对应的数据节点,依次运行以下命令
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_teleop keyboard.launch
rviz
rosrun ORB_SLAM2 RGBD /home/jianzhuozhu/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/jianzhuozhu/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml
5,跑TUM数据集
用法
python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt
跑数据集,注意命令后面带了4个参数
~/catkin_ws/src/ORB_SLAM2
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml Examples/data/rgbd_dataset_freiburg1_desk Examples/data/rgbd_dataset_freiburg1_desk/associations.txt