stella_vslam_ros

stella_vslam's ROS package.

Documentation

See here.

Install instruction

stella_vslam_ros uses submodules. Clone it with git clone --recursive or download submodules with git submodule update --init --recursive.

Subscribed topics

monocular setup

camera/image_raw

stereo setup

camera/left/image_raw
camera/right/image_raw

RGBD setup

camera/color/image_raw
camera/depth/image_raw

Published topics

~/camera_pose

Parameters

odom_frame
map_frame
robot_base_frame
camera_frame
publish_tf
transform_tolerance
use_exact_time (stereo, RGBD only)

Tutorial

Users unfamiliar with docker, ROS2, or stella_vslam should refer to the tutorial.

TIPS

run_slam_offline node allows you to run SLAM by reading the rosbag2 file directly.