orb_slam2

This Project just contains ros node, inheritance with ORB_SLAM2, and this project goal is to simplify the steps for who want to use orb slam with ROS.

Preparation

Required

This project need GCC 4.9 and above.

GLEW && OpenCV3

We should install OpenGL for DBoW2 and OpenCV3 for ORBSLAM typeing under command:

sudo apt-get install libglew-dev ros-indigo-opencv3

Notes: ORBSLAM2.so depend on OpenCV 3.1, so under line of OpenCV 3.0 need install.

Pangolin

You should install dependency library named [Pangolin](https://github.com/stevenlovegrove/Pangolin), almost steups you can use following command:

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j
sudo make install

OpenCV3

Checkout

In this case you should make sure your cv_bridge is link opencv3 in ROS, you can check file conten with under command:

sudo vi /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake

If in your cmake file has include following content, do install cv_bridge.

set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_video.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.2.4.8")

Install cv_bridge

Before begin this chapter make sure you have install OpenCV3.0 and above, if you have not install, typing under command:

wget https://github.com/opencv/opencv/archive/3.0.0.zip
unzip 3.0.0.zip
cd opencv-3.0.0
mkdir build 
cd build
cmake ..
make -j
sudo make install

Checkout if OpenCV install or not enter:

pkg-config --modversion opencv

If successfully will show under:

3.0.0

And now we recomplie cv_bridge source code:

cd <your_catkin_ws>/src
git clone https://github.com/ros-perception/vision_opencv
cd ..
catkin_make

Installation

Download code and complie with catkin_make:

cd <your_catkin_ws>/src
git clone http://github.com/Playfish/orb_slam2
cd ..
catkin_make

Usage

If you want use orb slam2 with Roch following under lines:

Driver With Roch

roslaunch roch_bringup minimal.launch

Driver with Sensors

Notes: Because will use 3d sensor for orb so donnot set ROCH_3D_SENSOR_ENABLE to false.

roslaunch roch_bringup sensor.launch

ORB_SLAM2

roscd orb_slam2/Vocabulary
tar -xvf ORBvoc.txt.tar.gz # this line just once
roslaunch orb_slam2 rgbd.launch

Playfish / orb_slam2

readme