### Orb
SLAM2 with
ROS Installation Tutorial and Usage Guide
For integrating Orb
SLAM2 within the Robot Operating System (
ROS), one can follow a structured approach that includes setting up dependencies, cloning repositories, building packages, and running
nodes.
#### Setting Up Dependencies
To ensure compatibility between Orb
SLAM2 and
ROS, installing necessary Python tools via `pip` is essential[^1]. This step ensures all required libraries for both systems are available on your machine. Additionally, maintaining clean code practices through linters as per guidelines helps prevent issues during development[^2].
#### Cloning Repository
The first action involves obtaining the source files
of Orb
SLAM2 along with its
ROS wrapper from GitHub or other hosting services. A common practice would be
:
```bash
git clone --recursive https
://github.com/raulmur/ORB_
SLAM2.git ~/catkin_ws/src/
cd ~/catkin_ws/src/ORB_
SLAM2
chmod +x build.sh
./build.sh
```
This script prepares the environment by downloading submodules and compiling C++ codes specific to this project.
#### Building Packages
After acquiring sources, integrate them into an existing Catkin workspace or create a new one specifically designed for handling
SLAM algorithms like so
:
```bash
source /opt/
ros/<distro>/setup.bash
cd ~/catkin_ws && catkin_make
source devel/setup.bash
```
Replace `<distro>` with your current
ROS distribution name such as noetic, melodic etc., ensuring proper initialization before proceeding further.
#### Running
Nodes
With everything set up correctly,
launching Orb
SLAM2 alongside sensor data streams becomes straightforward using predefined
launch files provided either directly inside ORB_
SLAM2 package directory under `/
ros/
launch`, or created manually according to personal preferences.
Example command line invocation might look something similar to below snippet when utilizing monocular camera input stream over
rosbag playback mechanism
:
```xml
<
launch>
<!-- Load parameters -->
<param name="voc_file" value="$(find orb_
slam2_
ros)/Vocabulary/ORBvoc.txt"/>
<!-- Start
nodelet manager & stereo image proc pipeline here -->
<!--
Launch orb
slam node itself -->
<
node pkg="orb_
slam2_
ros"
type="mono" name="orb
slam_mono">
...
</
node>
</
launch>
```
Ensure paths match actual locations where vocabulary file resides relative to
rospackage path; adjust accordingly based upon hardware configuration used at runtime.
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