ORB-SLAM2 ROS

1. ORB-SLAM2

• 稀疏点云点图slam

2. ORB-SLAM2 ROS安装教程

2.1 仓库地址

https://github.com/appliedAI-Initiative/orb_slam_2_ros

2.2 步骤

1. 创建catkin workspace

   mkdir -p orb_slam2_ws/src
   cd src
   catkin_init_workspace
   cd ..
   catkin_make_isolated
   

2. clone orb-slam2-ros 到 src文件夹内

   cd src  # 克隆orb功能包到src文件夹
   git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git
   cd ..
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y
   catkin_make_isolated  # 在catkin文件夹进行编译
   

3. source 环境

   . devel_isolated/setup.bash
   

4. 运行realsense和orbslam

   roslaunch realsense2_camera rs_rgbd.launch  # 关闭对齐深度图（尚未测试打开对齐深度图开关）
   roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch