Test of ORB-SLAM2 using Realsense R200
1. Follow the official instruction to download and build ORB-SLAM2 . [1] *Modify the build option: make -j -> make -j4 or make -j2 if your device doesn't have enough CPU numbers. 2. Prepare the .yaml file of the RGB camera (1) Create a new .yaml file (Copy from other .yaml) (2) Do camera calibration and fill the result in it. (or find these parameters using RealSense SDK [2]) 3. Modify the default subscribed topic of RGB-D node and then redo ./build_ros.sh /camera/depth_registered/image_raw -> /camera/depth/image_raw 4. Run $ roscore $ roscd realsense_camera/launch/ $ roslaunch realsense_camera r200_nodelet_rgbd.launch $ rosrun ORB_SLAM2 RGBD [path of ORBvoc.txt] [path of .yaml file] * You can also create a .launch file in the ORB_SLAM2 package, and then $ roscd ORB_SLAM2/launch/ $ roslaunch XXX.launch *Environmental configuration [3] *Method for solving the build errors [4] *Publish the pose data [5] *Check the relationship between topi