4. Localization Module¶
4.1. Set up Map File¶
Move your map file (file.bin
) to home
directory.
cp path_to_your_map/file.bin ~/
4.2. Setup Environment¶
export ROS_PACKAGE_PATH=path_to_workspace/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2:${ROS_PACKAGE_PATH}'
4.3. Run ORB-SLAM2¶
Run ORB SLAM2 with the following command.
rosrun ORB_SLAM2 Monopub path_to_ORBvoc path_to_setting_yaml -1 camera_topic
In our situation, the command is :
~/Desktop/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml -1 /zed/left/raw_image'