ROS2 Package

Installation

Prerequisites

Tested for Ubuntu 22.04.

Please install the following dependencies.

ROS2 : humble or later. Please follow Installation of ROS2.
image_tools : An optional requirement to use USB cameras.

Build Instructions

(If using IridescenceViewer)

sudo apt install -y libglm-dev libglfw3-dev libpng-dev libjpeg-dev libeigen3-dev libboost-filesystem-dev libboost-program-options-dev
git clone https://github.com/koide3/iridescence.git
cd iridescence
git checkout 085322e0c949f75b67d24d361784e85ad7f197ab
git submodule update --init --recursive
mkdir -p build
cd build
cmake \
    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
    ..
make -j$(($(nproc) / 2))
sudo make install

(If using PangolinViewer)

sudo apt install -y libglew-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout ad8b5f83
sed -i -e "193,198d" ./src/utils/file_utils.cpp
mkdir -p build
cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DBUILD_EXAMPLES=OFF \
    -DBUILD_PANGOLIN_DEPTHSENSE=OFF \
    -DBUILD_PANGOLIN_FFMPEG=OFF \
    -DBUILD_PANGOLIN_LIBDC1394=OFF \
    -DBUILD_PANGOLIN_LIBJPEG=OFF \
    -DBUILD_PANGOLIN_LIBOPENEXR=OFF \
    -DBUILD_PANGOLIN_LIBPNG=OFF \
    -DBUILD_PANGOLIN_LIBREALSENSE=OFF \
    -DBUILD_PANGOLIN_LIBREALSENSE2=OFF \
    -DBUILD_PANGOLIN_LIBTIFF=OFF \
    -DBUILD_PANGOLIN_LIBUVC=OFF \
    -DBUILD_PANGOLIN_LZ4=OFF \
    -DBUILD_PANGOLIN_OPENNI=OFF \
    -DBUILD_PANGOLIN_OPENNI2=OFF \
    -DBUILD_PANGOLIN_PLEORA=OFF \
    -DBUILD_PANGOLIN_PYTHON=OFF \
    -DBUILD_PANGOLIN_TELICAM=OFF \
    -DBUILD_PANGOLIN_TOON=OFF \
    -DBUILD_PANGOLIN_UVC_MEDIAFOUNDATION=OFF \
    -DBUILD_PANGOLIN_V4L=OFF \
    -DBUILD_PANGOLIN_VIDEO=OFF \
    -DBUILD_PANGOLIN_ZSTD=OFF \
    -DBUILD_PYPANGOLIN_MODULE=OFF \
    ..
make -j$(($(nproc) / 2))
make install

(If using SocketViewer)

sudo apt install -y autogen autoconf libtool
cd /tmp
git clone https://github.com/shinsumicco/socket.io-client-cpp.git
cd socket.io-client-cpp
git submodule init
git submodule update
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DBUILD_UNIT_TESTS=OFF \
    ..
make -j4
sudo make install
sudo apt install -y libprotobuf-dev protobuf-compiler
wget -q https://github.com/google/protobuf/archive/v3.6.1.tar.gz
tar xf v3.6.1.tar.gz
cd protobuf-3.6.1
./autogen.sh
./configure \
    --prefix=/usr/local \
    --enable-static=no
make -j4
sudo make install

rosdep update
sudo apt update
mkdir -p ~/lib
cd ~/lib
git clone --recursive --depth 1 https://github.com/stella-cv/stella_vslam.git
rosdep install -y -i --from-paths ~/lib
cd ~/lib/stella_vslam
mkdir -p ~/lib/stella_vslam/build
cd ~/lib/stella_vslam/build
source /opt/ros/${ROS_DISTRO}/setup.bash
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j
sudo make install

# When building with support for IridescenceViewer
cd ~/lib
git clone --recursive https://github.com/stella-cv/iridescence_viewer.git
mkdir -p iridescence_viewer/build
cd iridescence_viewer/build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j
sudo make install

# When building with support for PangolinViewer
cd ~/lib
git clone --recursive https://github.com/stella-cv/pangolin_viewer.git
mkdir -p pangolin_viewer/build
cd pangolin_viewer/build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j
sudo make install

# When building with support for SocketViewer
cd ~/lib
git clone --recursive https://github.com/stella-cv/socket_publisher.git
mkdir -p socket_publisher/build
cd socket_publisher/build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j
sudo make install

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive -b ros2 --depth 1 https://github.com/stella-cv/stella_vslam_ros.git
cd ~/ros2_ws
rosdep install -y -i --from-paths ~/ros2_ws/src --skip-keys=stella_vslam
colcon build --symlink-install

For using USB cam as a image source, download 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

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 \
    --ros-args -p publish_tf:=false

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 \
    --ros-args -p publish_tf:=false

Offline SLAM

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_offline \
    -b /path/to/bagfile.bag2 \
    -v /path/to/orb_vocab.fbow \
    -c /path/to/config.yaml \
    -o /path/to/map.msg \
    --camera=your_camera_topic_namespace \
    --storage-id=sqlite3 \
    --ros-args -p publish_tf:=false