- To clone the repository and submodules:
git clone --recurse-submodules https://github.com/VRI-UFPR/ORBBEC-ASTRA-SLAM.git
# or
git clone --recursive https://github.com/VRI-UFPR/ORBBEC-ASTRA-SLAM.git- To compile the ROS workspace:
cd ros_ws
catkin_make- To compile the ORB SLAM3 and ROS package:
cd ORB_SLAM3
./build.sh
source ../ros_ws/devel/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/workspace/ORB_SLAM3/Examples/ROS
./build_ros.sh- To access the ROS master from another machine in the same network, run in all terminals:
# Replace 10.0.0.3 with the IP of the machine running the ROS master
export ROS_MASTER_URI=http://10.0.0.3:11311 && export ROS_HOSTNAME=10.0.0.3- To run the ORBBEC camera node:
source ros_ws/devel/setup.bash
roslaunch astra_launch astra.launch- To run the ORB SLAM3 node:
source ros_ws/devel/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/workspace/ORB_SLAM3/Examples/ROS
rosrun ORB_SLAM3 RGBD /workspace/ORB_SLAM3/Vocabulary/ORBvoc.txt /workspace/ORBBEC_ASTRA.yaml- To check the pose of the camera:
rostopic echo /ORB_SLAM3/CameraPose