ros-orb-slam2

ROS Publisher Node using ORB-SLAM2. Currently, ORB_SLAM2 offers build file for ROS, but it doesn't broadcast any message, so other packages can not utilize it.

Implementation

• Mono Camera Slam
• Stereo Camera Slam
• RGB-D Camera Slam

Installation

Build ORB_SLAM2

See ORB_SLAM2 Github Repository.

$ git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
$ cd ORB_SLAM2
$ chmod +x build.sh
$ ./build.sh

After building ORB_SLAM2, set the environment variable ORBSLAM2_HOME.

$ export ORBSLAM2_HOME='{path/to/your/orbslam2/home}'

Caktkin Build

$ cd src
$ git clone https://github.com/ildoonet/ros-orb-slam2
$ cd ..
$ catkin_make

Message

Parameter

• camera(string, default: /camera/image) : camera image raw topic name
• worldframe(string, default: /world) : world frame name
• frame(string, default: orbframe) : tf broadcast frame name
• path_vocabulary(string) : vocabulary path(eg. $(env ORBSLAM2_HOME)/Vocabulary/ORBvoc.txt)
• path_settings(string) : orb slam setting path(eg. $(find orb_slam2)/conf/fpvcam.yaml)

Broadcast

Using Transform Broadcaster, this always broadcasts frame when this receives image frame and processed it.

Example

Launch File Example

<node name="orb_slam2" pkg="orb_slam2" type="orb_slam2_mono" output="screen" required="true">
        <param name="camera" value="/videofile/image_raw" />
        <param name="path_vocabulary" value="$(env ORBSLAM2_HOME)/Vocabulary/ORBvoc.txt" />
        <param name="path_settings" value="$(arg orbslam_setting_path)" />
        <param name="use_viewer" type="bool" value="true" />
    </node>

Mono USB Camera Example

See /launch/camtest.launch.