Run ORB SLAM

Test:

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt /media/tliu/WD_PassPort_1/slam_datasets/self/gopro.yaml /media/tliu/WD_PassPort_1/slam_datasets/self/nbrf/set1

Run ORB SLAM in ROS

Monocular Mode Example - Using Laptop/USB Camera

Download and install USB Camera in src folder

cd src/usb_cam
mkdir build
cd build
cmake ..
make

Edit device input (e.g., value=”/dev/video0”) for usb_cam-test.launch file

To check device input value, use ffmpeg

ls -ltrh /dev/video*
ffplay /dev/video0

Edit ORB_SLAM2/Example/ROS/ORB_SLAM2/src/ros_mono.cc

ros::Subscriber sub = nodeHandler.subscribe("/image/image_raw", 1, &ImageGrabber::GrabImage,&igb);

to

ros::Subscriber sub = nodeHandler.subscribe("/usb_cam/image_raw", 1, &ImageGrabber::GrabImage,&igb);

Rebuild

./build_ros.sh

Run

Tab 1

roscore

Tab 2

source devel/setup.bash
roslaunch usb_cam usb_cam-test.launch

Tab 3

source devel/setup.bash
rosrun ORB_SLAM2 Mono src/ORB_SLAM2/Vocabulary/ORBvoc.txt src/ORB_SLAM2/Examples/Monocular/TUM1.yaml

Plot ORB SLAM Trajectory Results

Install evo

sudo pip install evo --upgrade --no-binary evo

Plot

evo_traj tum KeyFrameTrajectory.txt --plot

Stereo Mode Example

Tab 1

roscore

Tab 2

rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true

Tab 3

rosbag play --pause /media/tliu/WD_PassPort_1/slam_datasets/EuRoC/V1_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw

Enter space after reading in rosbag info