【ORB-SLAM2】（三）：单目摄像头+ROS+ORB_SLAM2实时测试

水深无声 2023-02-27 10:31 8阅读 0赞

介绍：首先启动一个单目摄像头，其次发布节点话题/usb\_cam/image\_raw，最后ORB\_SLAM2订阅摄像头数据进行处理（这里需要修改相应的源文件里的话题类型，其默认值为 /camera/image\_raw）。

git上有ros节点使用介绍，https://github.com/Vincentqyw/ORB-SLAM2-CHINESE

## 1. 为mono、monoAR、stereore和RGB-D构建节点 ##

将包含Examples/ROS/ORB\_SLAM2的path添加到ROS\_PACKAGE\_PATH环境变量中，具体执行如下

sudo gedit ~/.bashrc

在最后一行添加

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/zqzy/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/

更新环境变量

source ~/.bashrc

执行`build_ros.sh脚本，在/ORB_SLAM2目录下：`

chmod +x build_ros.sh
    ./build_ros.sh

如果报错，请参考：**ORB\_SLAM2编译出现问题** [https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/107392436][https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_107392436]

## **2.运行单目节点** ##

（1）打开新终端，启用

roscore

（2）打开单目usb\_cam驱动

cd /home/zqzy/catkin_ws/src/usb_cam/launch
    
    source ~/catkin-ws/devel/setup.bash
    
    roslaunch usb_cam usb_cam-test.launch

（3）查看目前发布的节点列表

rostopic list

> /image\_view/output  
> /image\_view/parameter\_descriptions  
> /image\_view/parameter\_updates  
> /rosout  
> /rosout\_agg  
> /usb\_cam/camera\_info  
> **/usb\_cam/image\_raw**  
> /usb\_cam/image\_raw/compressed  
> /usb\_cam/image\_raw/compressed/parameter\_descriptions  
> /usb\_cam/image\_raw/compressed/parameter\_updates  
> /usb\_cam/image\_raw/compressedDepth  
> /usb\_cam/image\_raw/compressedDepth/parameter\_descriptions  
> /usb\_cam/image\_raw/compressedDepth/parameter\_updates  
> /usb\_cam/image\_raw/theora  
> /usb\_cam/image\_raw/theora/parameter\_descriptions  
> /usb\_cam/image\_raw/theora/parameter\_updates

其中，**/usb\_cam/image\_raw**是我们需要订阅的节点

（4）修改 /home/zqzy/catkin\_ws/src/ORB\_SLAM2/Examples/ROS/ORB\_SLAM2/src/ros\_mono.cc 中的节点名称，如下：

ros::Subscriber sub = nodeHandler.subscribe("/usb_cam/image_raw", 1, &ImageGrabber::GrabImage,&igb);

（5）重新编译

/home/zqzy/catkin_ws/src/ORB_SLAM2
    ./build_ros.sh

（6）运行

rosrun ORB_SLAM2 Mono /home/zqzy/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/zqzy/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml

结果如下：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyMDQxMzAz_size_16_color_FFFFFF_t_70][]

参考：[https://blog.csdn.net/qq\_42041303/article/details/103049578][https_blog.csdn.net_qq_42041303_article_details_103049578]

[https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_107392436]: https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/107392436
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyMDQxMzAz_size_16_color_FFFFFF_t_70]: /images/20230209/e1d8207e1ef94c3ca7f2f89906757f90.png
[https_blog.csdn.net_qq_42041303_article_details_103049578]: https://blog.csdn.net/qq_42041303/article/details/103049578