ORB_SLAM3

Get ORB_SLAM3

git clone https://github.com/yubaoliu/ORB_SLAM3.git
cd ORB_SLAM3
git checkout dev

Deploy ORB_SLAM3

  • Build OpenCV OpenCV will be installed when you install the ROS.

  • Build thirdparties

chmod +x build.sh
./build.sh

使用Realsense运行ORB_SLAM3

  • Start realsense camera node
roslaunch realsense2_camera rs_rgbd.launch
  • Start ORB_SLAM3 node
roslaunch orb_slam3 realsense.launch
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