With ORBSLAM2, it would be possible to get the pose and publish it on TF. Configure movebase to use this frame through TF, so that navigation knows where the robot is. For the map, ORBSLAM2 doesn't provide a 2D occupancy grid out-of-the-box, not sure how you can generate one. ORB-SLAM2 ROS node This is a ROS implementation of the ORB-SLAM2 real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. ORB-SLAM2 GPU Optimization GPGPU 2016 Final Project View on GitHub Download.zip Download.tar.gz Video Project Proposal. Enable GPU optimizations in ORBSLAM2 to achieve real time SLAM on the Jetson TX1 embedded computer. Aug 24, 2017 ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time.
Orb Slam 2 Github
I'm a ROS newbie. I'm using ROS Indigo in a virtual session using Ubuntu 14.04 on my MacBook Pro laptop using my built-in camera. I can successfully execute the ORB_SLAM2 ROS Package using this command: roslaunch ORB_SLAM ExampleGroovyOrNewer.launch.Using RVIZ, I can see the a map with the keyframes etc under Global Options/Fixed Frame, I'm not sure what you call this type of map ... it appears to be a 'Point Cloud' display). However I would also like to visualize the actual 3D Map that is being built on the fly by ORB_SLAM2. I have attached an example image below of the type of Map that I would like to display on RVIZ (or maybe there is another tool I need to use). When I try to 'add' a 'Map' to RVIZ, I don't see any published topics to select from. Do I need, for example, to use the 'Map_server' or maybe the 'Gmapping' ROS packages to accomplish this. Also, I can't seem to determine the differences between ORB_SLAM and ORB_SLAM2. Can you shed some light on this. Should I have started with ORB_SLAM?
Can someone please help me with this question?Thanks ...Phil
Comments
Hi. I have the same problem. Im not sure if ORB_SLAM2 can broadcast such messages can build the map in real time. Did you solve the problem?
@Astronaut: was your post an answer? No? Then please don't post it as one and use a comment. Thanks.
yes. I realize it. now is a comment
Orb Slam2 Imu
I guess the original ORB-SLAM2 does not publish map topic. You'll need to use other libraries such as PCL and octomap to get the map. I'm trying to figure out this too, hope I can get some clues later.
Orb Slam2 Python
Has someone been able to do this? I'm trying to build a map based on depth and figured I'd have to use something like octomap with ORB_SLAM2. Anything helps.