fail building ROS2 nodes for ORB_SLAM2

[zoldaten]

hi!
cant build nodes for ROS2 Foxy to use with ORB_SLAM2.
did you build them from scratch or use docker image from https://github.com/alsora/ros2-ORB_SLAM2/tree/f890df18983ead8cd2ae36676036d535ee52951b ?

[zoldaten]

ok. got it working - https://youtu.be/MaZRohrtnrQ
built nodes from scratch using repo above and issues to it that means EXPORT...

[tentone]

Hello

Sorry for my late reponse, Glad that you were able to figure it out.

Could you please provided updated intructions that could be integrated into the project readme?

Thanks a lot!

[zoldaten]

i`ll try to sum up changes.

[zoldaten]

i did almost everything from your README and a bit more )
ros2:
sudo apt update && sudo apt install curl gnupg2 lsb-release
12 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
13 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
14 mkdir -p ~/ros2_galactic
15 cd ros2_galactic/
16 wget https://github.com/ros2/ros2/releases/download/release-galactic-20221209/ros2-galactic-20221209-linux-focal-amd64.tar.bz2
17 ls
18 tar xf ros2-galactic-20221209-linux-focal-amd64.tar.bz2
19 mc
20 cd ..
21 sudo apt install ros-foxy-desktop python3-argcomplete
22 sudo rm /var/lib/apt/lists/lock
23 sudo rm /var/cache/apt/archives/lock
24 sudo rm /var/lib/dpkg/lock*
25 sudo dpkg --configure -a
26 sudo apt update
27 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
28 sudo apt install ros-foxy-desktop python3-argcomplete
29 sudo apt install ros-foxy-ros-base python3-argcomplete
30 sudo apt install ros-dev-tools
31 source /opt/ros/foxy/setup.bash
32 ros2 run demo_nodes_cpp talker
33 echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
34 printenv | grep -i ROS
35 sudo rm -r ros2_galactic/
36 printenv | grep -i ROS
37 mkdir -p ~/ros2_ws/src
38 cd ~/ros2_ws
39 cd src/
40 cd ..
41 git clone https://github.com/ros2/examples src/examples -b foxy
42 colcon build --symlink-install
43 colcon test
44 . install/setup.bash

tello:
git clone https://github.com/tentone/tello-ros2.git
put part of ROS to ros2_ws/src
59 cd ros2_ws/
60 colcon build --symlink-install
61 . install/setup.bash
62 cd src/
63 ls
64 ros2 launch launch.py
65 pip3 install av
66 sudo apt install python3-pip
67 pip3 install av
68 ros2 launch launch.py
69 pip3 install djitellopy

the hard part was about ORB_SLAM2 as i use opencv4.2 installed trought apt (not build from source).
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
271 cd ORB_SLAM2/
272 chmod +x build.sh
273 ./build.sh
275 sed -i 's/++11/++14/g' CMakeLists.txt
1.
need to add:
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
to
nano /home/al/ORB_SLAM2/src/LoopClosing.cc
nano /home/al/ORB_SLAM2/src/Viewer.cc
nano /home/al/ORB_SLAM2/src/System.cc
nano /home/al/ORB_SLAM2/src/Tracking.cc
nano /home/al/ORB_SLAM2/src/System.cc
nano /home/al/ORB_SLAM2/src/LocalMapping.cc
nano /home/al/ORB_SLAM2/Examples/Monocular/mono_kitti.cc
nano /home/al/ORB_SLAM2/Examples/Stereo/stereo_kitti.cc
nano /home/al/ORB_SLAM2/Examples/Monocular/mono_tum.cc
nano /home/al/ORB_SLAM2/Examples/RGB-D/rgbd_tum.cc
nano /home/al/ORB_SLAM2/Examples/Monocular/mono_euroc.cc
nano /home/al/ORB_SLAM2/Examples/Stereo/stereo_euroc.cc
2.
nano include/LoopClosing.h
from
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
to
Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;

3. changes concern opencv
   *raulmur/ORB_SLAM2@379c763

*ducha-aiki/pymagsac#4
sed -i 's/++11/++14/g' CMakeLists.txt
and
nano CMakeLists.txt

Then replace find_package(Eigen3 REQUIRED) to
list(APPEND CMAKE_INCLUDE_PATH "/usr/local/include")
find_package (Eigen3 3.3 REQUIRED NO_MODULE)

and
find_package(OpenCV 4 QUIET)

put file path (ost.yaml) to
nano /home/al/ros2_ws/build/tello/tello/node.py
path:
self.node.declare_parameter('camera_info_file', '')
to
self.node.declare_parameter('camera_info_file', '/home/al/ros2_ws/src/tello/resource/ost.yaml')

put the same parameters to
~/ORB_SLAM2/Examples/Monocular/TUM1.yaml

[tentone]

I will compile these instructions into a .md file and place them in the repo ;)

Thanks a lot!

[MizzouRobotics]

find_package (Eigen3 3.3 REQUIRED NO_MODULE)

This, but I had to build a custom Eigen 3.3.X from source, then change it to:
find_package (Eigen3 3.3.X EXACT REQUIRED NO_MODULE)

I am having difficulty finding the module after the fact for my ros2 node build. I didn't know if either of you had any insight :)

[MizzouRobotics]

Actually, I copied from the original source, I copied over the FindORB_SLAM2.cmake from the forked repo and it works. You both are saints

[tentone]

Well im a bit late to help, thats great news 👍 thanks!