1. How to Build a Map¶
1.1. Run Localization Module¶
Launch Localization module with following commands to start build a new map.
export ROS_PACKAGE_PATH=path_to_workspace/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2:${ROS_PACKAGE_PATH}'
rosrun ORB_SLAM2 Monopub path_to_ORBvoc path_to_setting_yaml -1 camera_topic 0 1
Open a new terminal and execute map generator.
export ROS_PACKAGE_PATH=path_to_workspace/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2:${ROS_PACKAGE_PATH}'
rosrun ORB_SLAM2 Monosub 10 0.5 20 -10 20 -10 0.55 0.5 1 5
1.2. Fine-tune¶
We provide a scirpt that can re-generate a 2D map from a point cloud.
python pointCloudToGridMap2D.py
Run the scirpt with --help
to know details.