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ORBSLAM3 ROS2 Wrapper

Orbslam3 does come with some support for integrating with ROS, but not with ROS2. We have created a ROS2 wrapper for the library. The wrapper is available on Github, and is forked from Github user zang09 repository ORB_SLAM3_ROS2. Our fork has been modified to work with the Nvidia Jetson AGX Orin Developer Kit. The wrapper has been tested on Ubuntu 20.04 and ROS2 Foxy Fitzroy.

Requirements

Installation

In your colcon workspace e.g. ~/ros2_ws/, clone the repository:

git clone --depth 1 \
    https://github.com/Multi-Agent-Robotics/ORB_SLAM3_ROS2 \
    src/orbslam3

To compile the package run:

export ORB_SLAM3_ROOT_DIR=/path/to/orbslam3
colcon build --symlink-install --packages-select orbslam3

Usage

The wrapper contains four executable nodes, one for each of the supported camera types:

mono

rgbd

stereo

stereo-inertial

Stereo camera with IMU

ros2 run orbslam3 stereo-inertial \
    <path_to_vocabulary> \
    <path_to_settings> \
    rectify := true | false \
    [equalize := true | false]

Example

ros2 run orbslam3 stereo-inertial \
    /path/to/orbslam3/Vocabulary/ORBvoc.txt \
    /path/to/orbslam3/Examples/Stereo-Inertial/EuRoC.yaml \
    true