benbenji / orb_slam_ros

ORB_SLAM2 with ROS interface

Orb_slam2_ros

ORB_SLAM2 with ROS interface This repo is a simple demo of ORB-SLAM2 in ROS. Data generated from SLAM, such as camera pose, keyframe trajectory and pointcloud are published in ROS.

• Compile Pangolin independently in this root directory

• Run build.sh to compile the project

• Run launch files

  roslaunch orb_slam_ros orb_slam_stereo.launch for launching stereo node

  roslaunch orb_slam_ros orb_slam_mono.launch for launching mono node