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ORB-SLAM3

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Run with docker

git clone https://github.com/j3soon/ros2-essentials.git

cd ros2-essentials/orbslam3_ws/docker
docker compose pull
docker compose up -d --build

Simple Test With Dataset

  • Attach to the container 
    docker attach ros2-orbslam3-ws
cd /home/ros2-essentials/orbslam3_ws
  • Prepare data, only need to be done once
    • Download dataset (~1.2G) 
      wget -P . http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag
    • ROS1 bag and ROS2 bag conversion reference 
      sudo pip3 install rosbags
rosbags-convert ./V1_02_medium.bag
  • Play the bag file in tmux 
    ros2 bag play V1_02_medium/V1_02_medium.db3 --remap /cam0/image_raw:=/camera
  • Run the ORB-SLAM3 in a new tmux window 
    source ~/test_ws/install/local_setup.bash
ros2 run orbslam3 mono ~/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/ORB_SLAM3/Examples_old/Monocular/EuRoC.yaml false
    2 windows will pop up, showing the results.

Reference repo or issues