Testing different slam libraries.
Note! Do not forget to add your bags inside slam_bags pkg.
- rtabmap_test. Tried to make slam by mono camera and odometry, but rtabmap can not work with mono camera. Only stereo or RGB-D. Rtabmap install
How to run demo:
- run "roslaunch rtabmap_test rtabmap.launch" in terminal.
- orb_slam2_test. Goes good but i have bag with fast rotations and it did not work fully even when i run bag with "-r 0.7" that means ~1.4 times slower. It was default settings of camera. Be careful with path to vocabulary in launch! ORB_SLAM2 install
How to run demo:
- run "roslaunch orb_slam2_test orb_slam.launch" in terminal, and after it will start run "roslaunch orb_slam_test bag.launch" to launch bag file.
- When you stop ORB the KeyFrameTrajectrory.txt file will be saved in the ~/.ros directory (by default). The file format: "timestamp tx ty tz qx qy qz qw". It means timestamp, 3 floats - position, 4 floats - orientation.
- if you need visualize just xyz points, run "python <project_path>/orb_slam2_test/visualization/show_trajectory.py". You can put your KeyFrameTrajectory.txt in visualization directory and update show_trajectory.py for your needs.