orbslam2-ros

This is a (docker-friendly) ros packages for orb slam2.
Since original ros examples were outdated (as we don't use rosbuild_init or manifest.xml ...),
I modified the CMakeLists and package.xml to make it run on your "current" ros.
Example .cc file (rgbd.cc) is the identical with the original.
(you can check here https://github.com/HyeonJaeGil/ORB_SLAM2/blob/master/Examples/RGB-D/rgbd_tum.cc)

How to use (with docker)

you first need to build orbslam2 with the instruction on https://github.com/HyeonJaeGil/ORB_SLAM2.git.
If you use dockerfile (hyeonjaegil/orbslam2:base), you don't have to go through time-consuming build process.
Everything is built inside a docker image.
After that, you should change the ORB_SLAM2_DIR in CMakeLists.txt of this package to the directory you cloned.
Currently, it is /root/ORB_SLAM2, and if you use docker, you don't have to fix it.
Everything was tested on Docker(ROS Melodic, opencv3.4).
But if ORB_SLAM2 were built successfully on your local machine, there would be no problem running this package on local.
(You should change ORB_SLAM2_DIR in CMakeLists.txt, though!)

Run docker container.

$ docker pull hyeonjaegil/orbslam2:ros
$ docker run --gpus all --rm -it --ipc=host --net=host --privileged \
  --env="DISPLAY=unix$DISPLAY" \
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
  --runtime=nvidia \
  -v /etc/localtime:/etc/localtime:ro \
  hyeonjaegil/orbslam2:ros

Enable GUI inside a container (important!)

You should enable GUI inside a container in order to run Pangolin viewer. The most simple way is to share xhost between local and container.

xhost + local:docker

Inside the container, run following command...

$ rosrun orbslam-ros RGBD \
  /root/ORB_SLAM2/Vocabulary/ORBvoc.txt \
  /root/catkin_ws/src/orbslam-ros/param/realsense.yaml

• For Mono or Stereo example, adjust yaml files (similar to original ORB SLAM2)
• You should prepare external camera so that it can publish image topics.

P.S

Feel free to contact for other questions via email (h.gil@snu.ac.kr) or github issues.