ROS下使用 Realsense D435i 运行ORBSLAM2_with_pointcloud_map

• 首先clone高博的代码

git clone https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map.git

• 此时应该有以下几个文件，具体的步骤也可以在README.md中看到：

• 解压 orbslam2_modified.zip文件，将这个文件夹下的ORB_SLAM2_modified文件夹拖出来覆盖到根目录下的ORB_SLAM2_modified，把这个文件夹下的g2o_with_orbslam2文件夹也拖到根目录，之后这个文件夹内就没东西了，删了吧，如下：
  
• 原包ROS不友好，可以下载另外一个包

git clone https://github.com/wylnii/ORBSLAM2_with_pointcloud_map.git

替换原包中的ORB_SLAM2_modified文件夹下的所有文件

• 保证你的eigen版本在Eigen3.2.x至少不低:
  下载： Eigen3.2.10

cd eigen-eigen-b9cd8366d4e8
mkdir build
cd build
cmake ..
make
sudo make install

• 编译g2o_with_orbslam2包：

cd g2o_with_orbslam2
mkdir build
cmake ..
make 
sudo make install

• 安装Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git

cd Pangolin
mkdir build
cd build
cmake ..
make
sudo make install

• 准备编译ORB_SLAM2_modified

cd ORB_SLAM2_modified/
rm -rf Thirdparty/DBoW2/build/
rm -rf Thirdparty/g2o/build/

• 下载ORBvoc.txt.tar.gz放置于Vocabulary文件夹下
  ORBvoc.txt.tar.gz
• 如果你github下载不下来，就试试我上传的
  ORBvoc.txt.tar.gz
• 保证opencv版本的一致，修改ORB_SLAM2_modified下以及ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2目录下的CMakeLists.txt，这里统一修改为你电脑里的opencv版本

find_package(OpenCV 3.0 QUIET)
# find_package(OpenCV 3.0 QUIET)
# if(NOT OpenCV_FOUND)
#    find_package(OpenCV 2.4.3 QUIET)
#    if(NOT OpenCV_FOUND)
#       message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
#    endif()
# endif()

• 如果你的电脑很渣，修改ORB_SLAM2_modified文件夹下的build.sh，将所有make -j中的-j去掉

echo "Configuring and building Thirdparty/DBoW2 ..."

cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

cd ../../g2o

echo "Configuring and building Thirdparty/g2o ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make 

cd ../../../

echo "Uncompress vocabulary ..."

cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..

echo "Configuring and building ORB_SLAM2 ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make 

cd ..

echo "Converting vocabulary to binary"
./tools/bin_vocabulary

• 开始编译ORB_SLAM2_modified

chmod +x build.sh
./build.sh

• 修改ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/文件夹下的cmakelist，注意你电脑里应该安装了pcl库，如果没有请自行安装，-lboost_system一句加上

find_package(Pangolin REQUIRED)
find_package(PCL 1.7 REQUIRED)

include_directories(
        ${PROJECT_SOURCE_DIR}
        ${PROJECT_SOURCE_DIR}/../../../
        ${PROJECT_SOURCE_DIR}/../../../include
        ${Pangolin_INCLUDE_DIRS}
        ${PCL_INCLUDE_DIRS}
)
add_definitions(${PCL_DEFINITIONS})
link_directories(${PCL_LIBRARY_DIRS})

set(LIBS
        ${OpenCV_LIBS}
        ${EIGEN3_LIBS}
        ${Pangolin_LIBRARIES}
        ${PCL_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
        ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
        ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
        -lboost_system
        )

• 修改ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc文件，把rgb_topic和depth_topic订阅话题修改为

 "/camera/color/image_raw";
 "/camera/aligned_depth_to_color/image_raw";

• 回到ORB_SLAM2_modified
• 渣电脑请修改build_ros.sh

echo "Building ROS nodes"

cd Examples/ROS/ORB_SLAM2
mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make 

• 修改ROS_PACKAGE_PATH

gedit ~/.bashrc

在最下面添加

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/你的目录/ORB_SLAM2_modified/Examples/ROS

source ~/.bashrc

• 开始编译ros接口

chmod +x build_ros.sh
./build_ros.sh

• 确定电脑已经安装好Realsense D435i 的sdk，如果没有安装如下安装：

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver 

Ubuntu 16 LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

sudo apt-get update
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

• 编译ROS Wrapper

mkdir realsense
cd realsense
mkdir src
cd src
git https://github.com/intel-ros/realsense.git
cd ..
catkin_make
source devel/setup.bash

• 至此，如果一切没有问题了，请运行

roslaunch realsense2_camera rs_rgbd.launch

• 新开终端，回到ORB_SLAM2_modified文件夹下，运行

rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.bin Examples/RGB-D/TUM1.yaml

这里TUM1.yaml是我随便写的，请自行去ORB_SLAM2上下载realsense的yaml