ORB_SLAM2 with ROS interface This repo is a simple demo of ORB-SLAM2 in ROS. Data generated from SLAM, such as camera pose, keyframe trajectory and pointcloud are published in ROS.
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Compile Pangolin independently in this root directory
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Run build.sh to compile the project
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Run launch files
roslaunch orb_slam_ros orb_slam_stereo.launchfor launching stereo noderoslaunch orb_slam_ros orb_slam_mono.launchfor launching mono node