ROS+ORBSLAM2_wylnii+RealsenseD415_relsense orbslam2-优快云博客

本文链接：https://blog.youkuaiyun.com/qq_28467367/article/details/93526287

博客介绍了ORBSLAM相关程序订阅话题的修改步骤，包括修改ros_rgbd.cc中rgb_topic和depth_topic订阅话题，修改CmakeLists；还提及ORBSLAM_wylnii+mono修改ros_mono.cc里的topic为 /usb_cam/image_raw，ORBSLAM_pointcloud+D415做相应修改。

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1.下载

git clone https://github.com/wylnii/ORBSLAM2_with_pointcloud_map.git
git clone https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map.git

mkdir -p orbslam_wylnii_ws/src
cd orbslam_wylnii_ws/src
catkin_init_workspace
cd orbslam_wylnii_ws
catkin_make

echo "source /home/hong/ROS/orbslam_wylnii_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd src/ORBSLAM2_modified
chmod +x build.sh 
./build.sh
chmod +x build_ros.sh
./build_ros.sh

修改ros_rgbd.cc
把rgb_topic和depth_topic订阅话题修改为

 "/camera/color/image_raw";
 "/camera/aligned_depth_to_color/image_raw";

修改CmakeLists

set(LIBS
        #${OpenCV_LIBS}
        ${EIGEN3_LIBS}
        ${Pangolin_LIBRARIES}
        ${PCL_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
        #${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
        ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
        opencv_core #修改
        opencv_imgproc
        opencv_highgui
        )

chmod +x build_ros.sh
./build_ros.sh

roscore
roslaunch realsense2_camera rs_rgbd.launch
rosrun ORB_SLAM2 RGBD /home/hong/ROS/orbslam_ws/src/ORB_SLAM2-master/Vocabulary/ORBvoc.txt /home/hong/ROS/orbslam_ws/src/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2/d415.yaml
rosrun ORB_SLAM2 RGBD /home/hong/ROS/orbslam_wylnii_ws/src/ORBSLAM2_wylnii/ORB_SLAM2_modified/Vocabulary/ORBvoc.txt /home/hong/ROS/orbslam_wylnii_ws/src/ORBSLAM2_wylnii/ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/d415.yaml

5.结束运行
rostopic pub /RGBD/cmd std_msgs/String "data: 'stop'"
6.
pcl_viewer result.pcd

7.ORBSLAM_wylnii+mono
修改ros_mono.cc ，把程序里面的topic改为 /usb_cam/image_raw

roscore
roslaunch usb_cam usb_cam-test.launch
rosrun ORB_SLAM2 Mono /home/hong/ROS/orbslam_wylnii_ws/src/ORBSLAM2_wylnii/ORB_SLAM2_modified/Vocabulary/ORBvoc.txt /home/hong/ROS/orbslam_wylnii_ws/src/ORBSLAM2_wylnii/ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/mono.yaml

8.ORBSLAM_pointcloud+D415，同上，做相应修改。

rosrun ORB_SLAM2 RGBD /home/hong/ROS/orbslam_map_ws/src/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/Vocabulary/ORBvoc.txt /home/hong/ROS/orbslam_map_ws/src/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/d415.yaml

参考自：
https://blog.youkuaiyun.com/subiluo/article/details/88975979