The planarslam_ros's intro from ngsford

planarslam_ros's Introduction

PlanarSlam_ROS

在ros环境下运行Planar SLAM

为了在实验室平台上运行Planar SLAM，相机使用的是D435,故对源作者的SLAM进行稍作修改，使得在ROS环境下运行。

大家将可将main_ros.cc拷贝至源作者Examples/RGB-D

在工作空间下创建功能包

~/catkin_ws/src
catkin_create_pkg PlanarSLAM roscpp std_msgs cv_bridge message_filters

将我写的main_ros.cc拷贝至源作者Examples/RGB-D 下,并统一拷贝至PlanarSLAM功能包下
运行作者的编译文件
```
.build.sh
```

将我上传的CMakeLists.txt替换掉源作者的或者在源作者的CMakeLists.txt 增加如下

find_package(catkin REQUIRED COMPONENTS
        roscpp
        std_msgs
        sensor_msgs
        cv_bridge
        camera_model
        message_filters
        )
include_directories(
        ${catkin_INCLUDE_DIRS}
)

add_executable(Planar_SLAM_ros Examples/RGB-D/main_ros.cc)
target_link_libraries(Planar_SLAM_ros ${PROJECT_NAME} ${catkin_LIBRARIES})

编译
```
cd ~/catkin_ws
catkin_make 
```

运行

rosrun PlanarSLAM Planar_SLAM_ros /home/wangwen/catkin_ws/src/PlanarSLAM/Vocabulary/ORBvoc.txt /home/wangwen/catkin_ws/src/PlanarSLAM/Examples/RGB-D/TUM1.yaml
//新建终端
roslaunch realsense2_camera rs_camera.launch

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