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'

4.4. Run pose convertor

convert the ORB SLAM2 pose to rviz coordination.

python pose_convertor.py