基于ROS2的ORB-SLAM3(ORB源码)

博客 ROS2源码

设置了.bashrc文件

alias orbbuild='cd ~/catkin_ws/ORB_SLAM3 && ./build.sh'
alias orbros='cd ~/colcon_ws && colcon build --symlink-install --packages-select orbslam3' 

运行ORB-SLAM3

# 单目
./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml ~/dataset/MH_01_easy ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt
#注意源码是没有可视化的，要自行修改
# ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);//开启可视化


# 双目+IMU
./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml ~/dataset/MH_01_easy ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt