ORBSLAM3-ROS2 Wrapper

This is a ROS2 wrapper for the Orbslam3 algorithm. Currently we only have distributions for ROS2 Foxy.

Installation Guide

Using Docker Pull

1. docker pull shaderobotics/orbslam2-ros2:latest
2. Follow the run commands in the usage section below

Build Natively

1. Directly follow the steps in the Dockerfile

Usage

1. Use an Ubuntu host or ensure that an X11 server is installed (for the UI)
2. Run xhost + local:docker
3. Run on the D435i docker run -it -v /dev:/dev --device-cgroup-rule "c 81:* rmw" --device-cgroup-rule "c 189:* rmw" -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -e MALLOC_CHECK_=2 shaderobotics/orbslam3:foxy rgbd /usr/src/ORB_SLAM3/Vocabulary/ORBvoc.txt /usr/src/ORB_SLAM3/Examples/RGB-D/RealSense_D435i.yaml true