ROS2 Package

Installation

Requirements

ROS2 : foxy or later.
stella_vslam
image_common : Required by this ROS package examples.
vision_opencv : Please build it with the same version of OpenCV used in stella_vslam.
image_tools : An optional requirement to use USB cameras.

Prerequisites

Tested for Ubuntu 20.04.

Please install the following dependencies.

ROS2 : Please follow Installation of ROS2.
stella_vslam : Please follow Installation of stella_vslam.

Note

Please build stella_vslam with PangolinViewer or SocketViewer if you plan on using it for the examples.

Download repositories of image_common and vision_opencv.

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b ${ROS_DISTRO} --single-branch https://github.com/ros-perception/image_common.git
git clone -b ros2 --single-branch https://github.com/ros-perception/vision_opencv.git

For using USB cam as a image source, donload a repository of demos and pick image_tools module.

cd ~/ros2_ws
git clone https://github.com/ros2/demos.git
cp -r demos/image_tools src/
rm -rf demos

Build Instructions

When building with support for PangolinViewer, please specify the following cmake options: -DUSE_PANGOLIN_VIEWER=ON and -DUSE_SOCKET_PUBLISHER=OFF as described in build of stella_vslam. stella_vslam and stella_vslam_ros need to be built with the same options.

cd ~/ros2_ws/src
git clone --recursive --branch ros2 --depth 1 https://github.com/stella-cv/stella_vslam_ros.git
cd ~/ros2_ws
colcon build --symlink-install --cmake-args -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF

Examples

Publisher

Publish Images by a video

ros2 run image_publisher image_publisher_node ./aist_living_lab_1/video.mp4 --ros-args --remap /image_raw:=/camera/image_raw

Publish Images Captured by a USB Camera

For using a standard USB camera for visual SLAM or localization.

ros2 run image_tools cam2image

Republish the ROS topic to /camera/image_raw.

ros2 run image_transport republish \
    raw in:=image raw out:=/camera/image_raw

Subscriber

Subscribers continually receive images. Please execute one of the following command snippets in the new terminal.

Note

Option arguments are the same as the examples of stella_vslam.

Tracking and Mapping

We provide an example snippet for visual SLAM. The source code is placed at stella_vslam_ros/src/run_slam.cc.

source ~/ros2_ws/install/setup.bash
ros2 run stella_vslam_ros run_slam \
    -v /path/to/orb_vocab.fbow \
    -c /path/to/config.yaml \
    --map-db-out /path/to/map.msg

Localization

We provide an example snippet for localization based on a prebuilt map. The source code is placed at stella_vslam_ros/src/run_slam.cc.

source ~/ros2_ws/install/setup.bash
ros2 run stella_vslam_ros run_slam \
    --disable-mapping \
    -v /path/to/orb_vocab.fbow \
    -c /path/to/config.yaml \
    --map-db-in /path/to/map.msg