1、配置環境、安裝ROS ubuntu16.04 + kinetic

2、安裝依賴 cmake opencv? Eigen3:

sudo apt-get install libeigen3-dev

3、創建catkin_ws 文件夾，并ROS初始化工作空間

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws/

catkin_make

4、git或者手動下載ORB-SLAM2的源代碼

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

5、配置ORB-SLAM2的ROS路徑

vim或者gedti? .bahsrc

寫如路徑

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

source? /opt/ros/kinetic/setup.bash

PATH：改為自己的ORB-SLAM2文件夾的路徑 /home/zz/catkin_ws/src

6、source .bashrc?? 使環境生效

7、下載usbc_cam驅動攝像頭安裝包

8、編譯ORB-SLAM2 的算法庫和ROS可執行程序

編譯ORB-SLAM2算法庫 sudo ./build.sh

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編譯ROS程序 sudo ./build_ros.sh

9、開三個窗口分別運行

roscore

roslaunch usb_cam usb_cam-test.launch
rosrun ORB_SLAM2 Mono? /home/zz/catkin_ws/src/ORB_SLAM2-master/Vocabulary/ORBvoc.txt /home/zz/catkin_ws/src/ORB_SLAM2-master/Examples/Monocular/TUM1.yaml

10、實際效果

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