编写orb-slam的launch文件

首先，创建一个工作空间

然后在orb_launch文件夹下建立launch文件夹

$ cd ~/catkin_ws/src
$ catkin_create_pkg orb_launch std_msgs rospy roscpp

新建一个orb_slam3.launch文件

内容如下

<launch>
    <!--定义全局参数-->
    <arg name="rgb_image" default="/usb_cam/image_raw"/>
    <arg name="path_to_vacabulary" default="/home/zzz/catkin_ws_orb/src/ORB_SLAM3-master/Vocabulary/ORBvoc.txt"/>
    <arg name="path_to_settings" default="/home/zzz/catkin_ws_orb/src/ORB_SLAM3-master/Examples/ROS/ORB_SLAM3/MyD435i.yaml"/>
    <!--启动摄像头节点(USB相机)-->
    <include file="$(find realsense2_camera)/launch/test.launch"/>

    <!--启动ORB-SLAM3-->
    <node name ="Stereo" pkg="ORB_SLAM3" type="Stereo" 
        args="$(arg path_to_vacabulary) $(arg path_to_settings) false" respawn="true" output="screen">
        <remap from="/camera/image_raw" to="$(arg rgb_image)"/>
    </node>
</launch>

 编译运行

处理报错

提示

RLException: while processing /opt/ros/noetic/share/realsense2_camera/launch/test.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: '/opt/ros/noetic/share/realsense2_camera/launch/test.launch'
The traceback for the exception was written to the log file

 说明找不到相机文件路径，在环境变量中添加路径

gedit ~/.bashrc 

在最下面加入，把相机的包添加进路径

source /home/zzz/realsense_ws/devel/setup.bash

  成功运行，接下来把rgbd和单目的都写好

RGBD

RGBD出了点错，修改了半天，发现1.参数不能增加那个false  2.RGBD需要修改相机的参数，相机需要提供修正过后的深度图才可以运行。

message_filters::Subscriber rgb_sub(nh, "/camera/color/image_raw", 1);
message_filters::Subscriber depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 1);

<launch>
    <!--定义全局参数-->
    <arg name="rgb_image" default="/usb_cam/image_raw"/>
    <arg name="path_to_vacabulary" default="/home/zzz/catkin_ws_orb/src/ORB_SLAM3-master/Vocabulary/ORBvoc.txt"/>
    <arg name="path_to_settings" default="/home/zzz/catkin_ws_orb/src/ORB_SLAM3-master/Examples/ROS/ORB_SLAM3/MyD435i.yaml"/>
    <!--启动摄像头节点(USB相机)-->
    <include file="/home/zzz/realsense_ws/src/realsense-ros-ros1-legacy/realsense2_camera/launch/test.launch"/>

    <!--启动ORB-SLAM3-->
    <node name ="RGBD" pkg="ORB_SLAM3" type="RGBD" 
        args="$(arg path_to_vacabulary) $(arg path_to_settings)" respawn="false" output="screen">
        <remap from="/camera/image_raw" to="$(arg rgb_image)"/>
    </node>
</launch>

 运行结果如下

 运行yoloorb

发现launch文件一直报错，最后找到原因应该是

他找不到自己的文件，所以报错， 这里我把他的路径全写上去，可以运行

<launch>
    <!--定义全局参数-->
    <!--相机的rgd和depth图像-->
    <arg name="rgb_image" default="camera/color/image_raw"/>
    <arg name="depth_image" default="/camera/depth/image_rect_raw"/>    
    <arg name="path_to_vacabulary" default="/home/zzz/catkin_ws_test/src/YOLO_ORB_SLAM3/Vocabulary/ORBvoc.txt"/>
    <arg name="path_to_settings" default="/home/zzz/catkin_ws_test/src/YOLO_ORB_SLAM3/MyD435i.yaml"/>
    <!--启动摄像头节点(USB相机)-->
    <include file="/home/zzz/realsense_ws/src/realsense-ros-ros1-legacy/realsense2_camera/launch/test.launch"/>

    <!--启动ORB-SLAM3-->
    <node name ="RGBD" pkg="YOLO_ORB_SLAM3" type="RGBD" 
        args="$(arg path_to_vacabulary) $(arg path_to_settings)" respawn="false" output="screen">
    </node>
</launch>

但是只能在终端里运行 

roslaunch orb_launch yolo_slam3.launch 

使用调试运行还是报错