ROS learning (21) robot slam function package -- installation and testing of orbslam

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Preface

   In the previous study , We finished rgdbslam Installation and testing of , This article is completed on this basis ORB-SLAM Installation , There are not many things to install here , Before the installation RGBD-SLAM when , Most of them have been installed .

One 、 install Pangolin

Pangolin As a visualization and user interface . You need to install 0.5 Version of Pangolin, If you install the latest version of , Will be in SLAM Error in project compilation .
Pangolin0.5 Download address ：
https://github.com/stevenlovegrove/Pangolin/releases/tag/v0.5
Extract to the specified directory , Enter the command as follows ：

cd Pangolin-0.5
mkdir build
cd build
cmake ..
make -j

Compile successfully , The effect is as follows ：

Continue typing commands , Installation ：

sudo make install

After installation , The effect is as follows ：

Two 、 compile ORB-SLAM2

To download ORB-SLAM2, The order is as follows ：

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh

If compilation is successful , The effect is as follows ：

Then you need to add ROS Environmental path , The method is as follows ：
open /opt/ros/kinetic/setup.bash file , Add a line of code at the end , namely

export ROS_PACKAGE_PATH=${
    ROS_PACKAGE_PATH}:/home/zt/ORB_SLAM2/Examples/ROS

Refresh , The order is as follows ：

source setup.sh

Similar to the above file , open ~/.bashrc file , Add a line of code at the end , namely

export ROS_PACKAGE_PATH=${
    ROS_PACKAGE_PATH}:/home/zt/ORB_SLAM2/Examples/ROS

Refresh , The order is as follows ：

source ~/.bashrc

complete ROS After adding the environment path , Continue to execute the compile command ：

cd ORB_SLAM2
chmod +x build_ros.sh
./build_ros.sh

Report errors , as follows ：

The reason is that the system cannot be found when compiling boost Link library of , The solution is to modify /ORB_SLAM2/Examples/ROS/ORB_SLAM2/CmakeLists.txt, Add a sentence

-lboost_system

Here's the picture ：

Reenter the command ：

./build_ros.sh

Compile successfully , The effect is as follows ：

3、 ... and 、 Dataset testing

Open a new terminal , Input ：

roscore

Open a new terminal , Input ：

rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/Asus.yaml

Find the previously downloaded dataset , The file named rgbd_dataset_freiburg1_room.bag, Store in catkin_rgbdslam_ws/rgdb_data Under the table of contents , In this directory , Open a new terminal , Input ：

rosbag play rgbd_dataset_freiburg1_room.bag /camera/rgb/image_color:=/camera/image_raw

The effect is as follows ：