ROS catkinization

[plnegre]

Hello @raulmur,

The ROS examples you provide, are build using a very old tool (rosbuild), which is not longer supported.

The new build tool for ROS is catkin. I catkinized the package so everybody can use it in hydro, indigo and further versions.

[weblucas]

Very good. all my friends always have to do that when download orbslam.

[Nican]

Hello! I am attempting to build your branch, but I feel like some steps are missing. I appended the "Example/ROS" to the ROS_PACKAGE_PATH. I had 3 extra modifications to make it work:

1. Move "Example/ROS/orb_slam2" to "Example/ROS/src/orb_slam2"
2. Add "${EIGEN3_INCLUDE_DIR}" to "include_directories"
3. Modify CMakeLists.txt and all .cc files with the new relative paths. Basically add a "../" to all relative paths.

Then I can run catkin_make on the "Example/ROS" directory, and everything seems to be working correctly now. Am I missing something?

[buqing2009]

Thanks for your work！ @plnegre

[plnegre]

Hello @buqing2009,

make sure that your orb_slam package is into your ROS_PACKAGE_PATH variable (echo ${ROS_PACKAGE_PATH})

Hope it helps!

[marcelinomalmeidan]

I wasn't able to build it either. I cloned the repository into catkin_ws/src, then ran catkin_make in the catkin_ws, but errors showed up:

In file included from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:37:0,
from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../include/LoopClosing.h:34,
from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../include/LocalMapping.h:26,
from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../include/Tracking.h:31,
from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../include/System.h:29,
from /home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/src/ros_mono.cc:32:
/home/mma2739/catkin_ws/src/ORB_SLAM2/Examples/ROS/orb_slam2/../../../Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:26: fatal error: ../../config.h: No such file or directory
#include "../../config.h"

I did check (echo ${ROS_PACKAGE_PATH}), which gives as an output:
/home/mma2739/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

Am I missing something?

[plnegre]

Hello @marcelinomalmeidan,

Please, refer to the README file for instructions on how to compile it in ROS.

[marcelinomalmeidan]

@plnegre, isn't the whole point of catkinizing to avoid using build?

The ROS examples you provide, are build using a very old tool (rosbuild), which is not longer supported.

[Nican]

No. The ORB_SLAM2 is still had independent dependencies that must be built before catkin_make runs.

[marcelinomalmeidan]

Alright, thanks! I'll try it later!

[lucasmedino]

Where do I need to add the orb_slam folder, should I add to catkin_ws?

[plnegre]

Hello @lucasmedino

Please, refer to the README file for instructions on how to compile it in ROS

[Emilycs09]

@plnegre Thank you for your sharing!

I have a problem here:
After editting the files according to your commits and successfully making the project, I tried
rosrun orb_slam2 rgbd MY_PATH_VOC MY_PATH_SETTING,
yet errors comes up as:
Couldn't find executable named rgbd below /home/xx/catkin_orbslam/src/ORB_SLAM2-master/Examples/ROS/orb_slam2. Found the following, but they're either not files, or not executable: /home/xx/catkin_orbslam/src/ORB_SLAM2-master/Examples/ROS/orb_slam2/build/devel/lib/orb_slam2/rgbd

I have tried source devel/setup.bash but it still didn't work.

Hope for your help! Thx