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stella_vslam_ros

stella_vslam's ROS package.

Install instruction

stella_vslam_ros uses submodules. Clone it with git clone --recursive or download submodules with git submodule update --init --recursive.

Subscribed topics

monocular setup

  • camera/image_raw

stereo setup

  • camera/left/image_raw
  • camera/right/image_raw

RGBD setup

  • camera/color/image_raw
  • camera/depth/image_raw

Published topics

  • ~/camera_pose
  • ~/pointcloud
  • /tf

Parameters

  • odom_frame
  • map_frame
  • robot_base_frame
  • camera_frame
  • publish_tf
  • publish_pointcloud
  • transform_tolerance
  • use_exact_time (stereo, RGBD only)

Usage Example

To run stella_vslam_ros, you can execute the following command directly using rosrun:

rosrun stella_vslam_ros run_slam \
    -v /path to/orb_vocab.fbow \
    -c /path to/file.yaml \
    --mask /path to/mask.png \
    --map-db-out /path to/map.msg \
    --eval-log-dir /path to save your SLAM/Evaluation \
    --use-rosbag-timestamps

Parameters in the command:

  • -v: Specifies the path to the vocabulary file for ORB-SLAM.
  • -c: The configuration file for the camera.
  • --mask: Path to the mask image for the camera.
  • --map-db-out: Specifies the output file where the map database will be saved.
  • --eval-log-dir: Directory to store evaluation logs.
  • --use-rosbag-timestamps: Ensures that the timestamps from the rosbag are used for synchronization.