angelsantamaria / orb_slam_2_catkin

Catkin wrapper for orbslam2 package.

orb_slam2_catkin

Overview

This package is a catkinized version of the original library ORB_SLAM2

Keywords: CATKIN, ORB_SLAM2, SLAM

Installation

• Clone the repository

  git clone [e-mail]:angelsantamaria/orb_slam_2_catkin.git

• Install all required packages

  chmod +x set_all_packages.sh && ./set_all_packages.sh

• Compile (ignore warnings)

  roscd && cd .. && catkin_make

Execution

roslauch orb_slam_2_catkin run_orb_slam_2.launch

License

The source code is released under a GPLv3 license as is the underlying library ORB_SLAM2.

Author(s): Alex Millane Maintainer: Alex Millane Affiliation: Autonomous Systems Lab, ETH Zurich

The orb_slam2_catkin package has been tested under ROS Indigo on Ubuntu 14.04 and under ROS Kinetic Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Make sure you have added your SSH keys to your Github account. For more info check connecting-to-github-with-ssh.

We suggest you have a look at the ROS wrapper orb_slam_2_ros which provides a user-friendly ROS interface to use this repository within ROS.