ubuntu16.04环境下使用ros运行ORB-SLAM3

不念不忘少年蓝@ 2022-09-10 10:28 235阅读 0赞

# 1. 安装ROS，确保测试通过 #

[参考：Ubuntu16.04安装ROS Kinetic详细过程][Ubuntu16.04_ROS Kinetic]

**配置ORB-SLAM3的ROS路径到 ROS\_PACKAGE\_PATH**

> sudo vim ~/.bashrc  
> //把下边这行代码加到bashrc里去，这样每次开启终端都会执行这行代码  
> **export ROS\_PACKAGE\_PATH=$\{ROS\_PACKAGE\_PATH\}:/home/PATH\_TO\_ORB-SLAM3/ORB\_SLAM3/Examples/ROS**   
> source ~/.bashrc

**报错：**\[rosbuild\] rospack found package "ORB\_SLAM2" at "", but the current  
directory is "/home/nvidia/ORBSLAM2/ORB\_SLAM2/Examples/ROS/ORB\_SLAM2"  
**解决方法:**

> **sudo ln -s /path-to-orbslam3/Examples/ROS/ORB\_SLAM3 /opt/ros/kinetic/share/ORB\_SLAM3**

# 2. 准备数据 #

如下载Euroc数据 MH\_01\_easy.bag，[下载地址][Link 1].

# 3. 测试Euroc数据（双目） #

**Terminal 窗口1：**

> roscore

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16][]

**Terminal 窗口2：**

> rosrun ORB\_SLAM3 Stereo 'path-to-/Vocabulary/ORBvoc.txt' 'path-to-/Examples/Stereo/EuRoC.yaml' 0

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16 1][]

**Terminal 窗口3：**

> rosbag play --pause 'path-to-/MH\_01\_easy.bag' **/cam0/image\_raw:=/camera/left/image\_raw** **/cam1/image\_raw:=/camera/right/image\_raw**

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16 2][]

然后单击空格键，开始播放

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16 3][]

#  #

# 参考 #

*  [ubuntu18.04环境下使用ros运行ORB-SLAM3][ubuntu18.04_ros_ORB-SLAM3]
 *  [ORB-SLAM3 ROS 运行][ORB-SLAM3 ROS]

[Ubuntu16.04_ROS Kinetic]: https://visionary.blog.csdn.net/article/details/120152780
[Link 1]: https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16]: /images/20220829/038e6af539a546b4b4ceabdb2f64efc5.png
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16 1]: /images/20220829/801ab107ff9f4f7f9dc7a73c2a659cc3.png
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16 2]: /images/20220829/cc3ac99e3c8c4759b94a2ee115eceec2.png
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5oOK6bi_5LiA5Y2a_size_20_color_FFFFFF_t_70_g_se_x_16 3]: /images/20220829/834e8ce8882643a88812754163c9bc21.png
[ubuntu18.04_ros_ORB-SLAM3]: https://blog.csdn.net/jihaoweizzz/article/details/110091991?utm_medium=distribute.pc_relevant.none-task-blog-2~default~CTRLIST~default-1.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2~default~CTRLIST~default-1.control
[ORB-SLAM3 ROS]: https://blog.csdn.net/qq_41265365/article/details/114634660?utm_medium=distribute.pc_relevant_t0.none-task-blog-2~default~CTRLIST~default-1.control&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2~default~CTRLIST~default-1.control