ORB_SLAM3 ROS2 Wrapper

Camera calibration

https://navigation.ros.org/tutorials/docs/camera_calibration.html https://docs.ros.org/en/rolling/p/camera_calibration/index.html

Monocular calibration

ros2 run camera_calibration cameracalibrator --size 7x9 --square 0.030 --pattern=chessboard --no-service-check --ros-args -r image:=/camera/image_raw -p camera:=/camera/camera_info

Stereo calibration

ros2 run camera_calibration cameracalibrator --approximate 0.1 --size 7x9 --square 0.046 right:=/orbslam3/image_stream_right/image_raw left:=/orbslam3/image_stream_left/image_raw right_camera:=/orbslam3/image_stream_right/camera_info left_camera:=/orbslam3/image_stream_left/camera_info

Installation

add this to /etc/docker/daemon.json

{
    "default-runtime": "nvidia",
    "runtimes": {
        "nvidia": {
            "args": [],
            "path": "nvidia-container-runtime"
        }
    },
    "exec-opts": ["native.cgroupdriver=cgroupfs"]
}

add this line to your .bashrc file:

sed -i -e '$a\'$'\n''xhost +local:docker' ~/.bashrc
source ~/.bashrc

Run

ros2 launch launch/orb_slam3_launch.py ros2 run octomap_server octomap_server_node --ros-args -p base_frame_id:=base_link -p resolution:=0.01

Acknowledgements

https://github.com/UZ-SLAMLab/ORB_SLAM3 https://github.com/abhineet123/ORB_SLAM2 https://github.com/zang09/ORB_SLAM3_ROS2