ORB_SLAM3_ROS2

This repository is ROS2 wrapping to use ORB_SLAM3

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Demo Video

Prerequisites

• I have tested on below version.

  • Ubuntu 22.04
  • ROS2 Humble
  • OpenCV 4.5.4

• Build ORB_SLAM3

  • Follow the build instructions in the repo below . you may need to change the CMake version
  • After you build and follow the instruction go to home/<username>/<orbslam_directory>/Thirdparty/Sophus/build and do sudo make install
  • You don't necessarly have to download opencv from source as specified in the repo below
  • Go to this repo and follow build instruction.

• Install related ROS2 package

$ sudo apt install ros-$ROS_DISTRO-vision-opencv && sudo apt install ros-$ROS_DISTRO-message-filters

How to build

1. Clone repository to your ROS workspace

$ mkdir -p colcon_ws/src
$ cd ~/colcon_ws/src
$ git clone https://github.com/Melasmar-711/ORB_SLAM3_ROS2.git
$ git checkout RAMI_ORBSLAM3

2. Change this line to your own python site-packages path

3. Change this line to your own ORB_SLAM3 path

Now, you are ready to build!

$ cd ~/colcon_ws
$ colcon build --symlink-install --packages-select orbslam3

Troubleshootings

1. If you cannot find sophus/se3.hpp:
   Go to your ORB_SLAM3_ROOT_DIR and install sophus library.

$ cd ~/{ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus/build
$ sudo make install

2. Please compile with OpenCV 4.5.4 version atleast.

How to use

1. Source the workspace

$ source ~/colcon_ws/install/local_setup.bash

2. before running the nodes

tar -xvzf <Your_Package_Dir>/vocabulary/ORBvoc.txt.tar.gz

3. if you run the next command without specifying that you need the webcam the slam will run by subscribing to an image topic name /sf/AUV/rgb_camera/image_color which is the topic coming out of the simulation node.

ros2 run orbslam3 mono <Package_Dir>/vocabulary/ORBvoc.txt <Package_Dir>/config/monocular/sim_camera.yaml 

MONO

4. you can from the web cam using

ros2 run orbslam3 mono <Package_Dir>/vocabulary/ORBvoc.txt <Package_Dir>/config/monocular/web_cam.yaml --webcam

MONO-Inertial

5. you need a ros2 bag that have the images and imu reading streamed recorded . i still have to record a good one where the images aren't so distant from each other

ros2 run orbslam3 mono-inertial <Package_Dir>/vocabulary/ORBvoc.txt <Package_Dir>/config/monocular-inertial/mono_inertial_sim.yaml

Acknowledgments

This repository is modified from this repository.
working with ubuntu 22.04 and adding an option to run from a usb or web camera