更多:请查看~/ORB_SLAM2/REAME.md
首先感谢高博分享的基本流程https://www.cnblogs.com/gaoxiang12/p/5161223.html
该流程是在自己试坑后做出的总结
1.编译运行Kinect2
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"
roslaunch kinect2_bridge kinect2_bridge.launch
2.下载ORB_SLAM2并做适当改动
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
改动1:在目录Example/ROS/ORB_SLAM2/src/ros_rgbd.cc中:
main函数
message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/rgb/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "camera/depth_registered/image_raw", 1);
改成:
message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "yourtopic", 1);
message_filters::