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PLVS_ROS2

This package is a ROS2 wrapper for PLVS2. This was inspired by the repository: https://github.com/zang09/ORB_SLAM3_ROS2

Prerequisites

This package was tested under

  • Ubuntu 20.04
  • ROS1 noetic
  • ROS2 foxy
  • OpenCV 4.2.0

Install required ROS2 package

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

How to use

See the main README on how to build PLVS with ROS2 support.

  1. Source the workspace 
    $ source <PLVS_ROOT>/ros2_ws/install/local_setup.bash
  2. Run PLVS At present, there is only support for MONO, STEREO, RGBD, STEREO-INERTIAL modes.
    • MONO mode 
      $ ros2 run plvs mono PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
    • STEREO mode 
      $ ros2 run plvs stereo PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY
    • RGBD mode 
      $ ros2 run plvs rgbd PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
    • STEREO-INERTIAL mode 
      $ ros2 run plvs stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]

Run with ros1 bags via ros bridge

To play ros1 bag file, you should install ros1 noetic & ros1 bridge.

Here is a link to demonstrate example of ros1-ros2 bridge procedure.
If you have ros1 noetic and ros1 bridge already, open your terminal and follow this:
(Shell A, B, C, D is all different terminal, e.g. stereo-inertial mode)

  1. Download EuRoC Dataset (V1_02_medium.bag)

    $ wget -P ~/Downloads http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag

  2. Launch Terminal
    (e.g. ROS1_INSTALL_PATH=/opt/ros/noetic, ROS2_INSTALL_PATH=/opt/ros/foxy)

    #Shell A:
source ${ROS1_INSTALL_PATH}/setup.bash
roscore

#Shell B:
source ${ROS1_INSTALL_PATH}/setup.bash
source ${ROS2_INSTALL_PATH}/setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge

#Shell C:
source ${ROS1_INSTALL_PATH}/setup.bash
rosbag play ~/Downloads/V1_02_medium.bag --pause /cam0/image_raw:=/camera/left /cam1/image_raw:=/camera/right /imu0:=/imu

#Shell D:
source ${ROS2_INSTALL_PATH}/setup.bash
ros2 run plvs stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]

  3. Press spacebar in Shell C to resume bag file.