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
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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
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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
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运行作者的编译文件
.build.sh
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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})
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编译
cd ~/catkin_ws catkin_make
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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