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alsora / ros2-ORB_SLAM2

ROS2 node wrapping the ORB_SLAM2 library
GNU General Public License v3.0
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ROS2 nodes success build #11

Closed zoldaten closed 1 year ago

zoldaten commented 1 year ago

ok. just built nodes! *ORB_SLAM2 built in ~/ORB_SLAM2 from source. ROS2 foxy worspace installed in /ros2_ws.

after that: 

cd /ros2_ws/src
git clone https://github.com/alsora/ros2-ORB_SLAM2.git
cd ..
export LD_LIBRARY_PATH=/Pangolin/build/src/:/ORB_SLAM2/Thirdparty/DBoW2/lib:/ORB_SLAM2/Thirdparty/g2o/lib:/ORB_SLAM2/lib:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=~/ORB_SLAM2/
colcon build --symlink-install
. install/setup.bash

test: ros2 run ros2_orbslam mono ~/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/ORB_SLAM2/Examples/Monocular/TUM1.yaml Screenshot_2