ros2 humble下使用Astra Pro深度相机运行orb-slam3

本教程前提：Astra Pro在ros2中部署成功（其他usb相机也可以），orb-slam3在ubuntu中部署成功

参考文章：

官方文档：https://github.com/zang09/ORB_SLAM3_ROS2/blob/humble/README.md

CSDN文章：https://blog.csdn.net/liiiuzy/article/details/136272727?fromshare=blogdetail&sharetype=blogdetail&sharerId=136272727&sharerefer=PC&sharesource=m0_72797388&sharefrom=from_link

1.克隆仓库

将ORB_SLAM3_ROS2仓库克隆到你的 ROS 工作空间

mkdir -p slam_ws/src
cd ~/slam_ws/src
git clone https://github.com/zang09/ORB_SLAM3_ROS2.git orbslam3_ros2

2.修改源码

下载完成后修改orbslam3_ros2目录下的 CMakeLists.txt

• 将第 5 行中的路径修改为自己本机 ROS2 site-packages 的路径，一般来说都在/opt/ros/humble/lib/python3.10/site-packages

set(ENV{PYTHONPATH} "/opt/ros/humble/lib/python3.10/site-packages")

• 修改slam_ws/src/orbslam3_ros2/CMakeModules/FindORB_SLAM3.cmake文件,这个是你的ORB_SLAM3所在的路径

set(ORB_SLAM3_ROOT_DIR "/home/cennum/ORB_SLAM3")

3.安装依赖

1.ros依赖

sudo apt install ros-$ROS_DISTRO-vision-opencv && sudo apt install ros-$ROS_DISTRO-message-filters

2.安装sophus

在你的ORB_SLAM3/Thirdparty/Sophus下编译安装Sophus

进入build目录可以直接安装，因为在编译ORB_SLAM3的时候一起编译了但是没有安装过

cd ~/{ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus/build
sudo make install

3.注意要使用 OpenCV 4.5.4 版本进行编译（官方建议）

3.在工作空间下编译ORB_SLAM3_ROS2

cd ~/slam_ws
colcon build --symlink-install --packages-select orbslam3

编译过程会遇到的问题:

如果编译时提示：

undefined reference to symbol 'cv::initUndistortRectifyMap(…)'
/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.5d: error adding symbols: DSO missing from command line

这说明你用了 OpenCV 的函数，但链接器没有链接到 libopencv_calib3d.so。

解决方法：修改ORB_SLAM3_ROS2功能包下的 CMakeLists.txt 正确链接 OpenCV 库

修改有点复杂，这里直接给出完整的CMakeLists.txt ，可以直接替换之前的

cmake_minimum_required(VERSION 3.5)
project(orbslam3)

# You should set the PYTHONPATH to your own python site-packages path
set(ENV{PYTHONPATH} "/opt/ros/humble/lib/python3.10/site-packages/")

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(message_filters REQUIRED)
find_package(Sophus REQUIRED)
find_package(Pangolin REQUIRED)
find_package(ORB_SLAM3 REQUIRED)

# ✅ 新增：查找 OpenCV
find_package(OpenCV REQUIRED)

include_directories(
  include
  ${ORB_SLAM3_ROOT_DIR}/include
  ${ORB_SLAM3_ROOT_DIR}/include/CameraModels
  ${OpenCV_INCLUDE_DIRS}  # ✅ 添加 OpenCV 的头文件路径
)

link_directories(
  include
)

add_executable(mono
  src/monocular/mono.cpp
  src/monocular/monocular-slam-node.cpp
)
ament_target_dependencies(mono rclcpp sensor_msgs cv_bridge ORB_SLAM3 Pangolin)
target_link_libraries(mono ${OpenCV_LIBS})  # ✅ 链接 OpenCV

add_executable(rgbd
  src/rgbd/rgbd.cpp
  src/rgbd/rgbd-slam-node.cpp
)
ament_target_dependencies(rgbd rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin)
target_link_libraries(rgbd ${OpenCV_LIBS})  # ✅ 链接 OpenCV

add_executable(stereo
  src/stereo/stereo.cpp
  src/stereo/stereo-slam-node.cpp
)
ament_target_dependencies(stereo rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin)
target_link_libraries(stereo ${OpenCV_LIBS})  # ✅ 链接 OpenCV

add_executable(stereo-inertial
  src/stereo-inertial/stereo-inertial.cpp
  src/stereo-inertial/stereo-inertial-node.cpp
)
ament_target_dependencies(stereo-inertial rclcpp sensor_msgs cv_bridge ORB_SLAM3 Pangolin)
target_link_libraries(stereo-inertial ${OpenCV_LIBS})  # ✅ 链接 OpenCV

install(TARGETS mono rgbd stereo stereo-inertial
  DESTINATION lib/${PROJECT_NAME})

#install(DIRECTORY launch config vocabulary
#  DESTINATION share/${PROJECT_NAME}/)

ament_package()

4.修改并运行ORB_SLAM3_ROS2的ros2节点

1.修改单目rgb启动节点

该文件位于/home/cennum/slam_ws/src/orbslam3_ros2/src/monocular/monocular-slam-node.cpp

/camera/color/image_raw修改为你自己的rgb相机的话题,啥相机都可以

MonocularSlamNode::MonocularSlamNode(ORB_SLAM3::System* pSLAM)
:   Node("ORB_SLAM3_ROS2")
{
    m_SLAM = pSLAM;
    // std::cout << "slam changed" << std::endl;
    m_image_subscriber = this->create_subscription<ImageMsg>(
        "/camera/color/image_raw",//这里的/camera/color/image_raw修改为你自己的rgb相机的话题
        10,
        std::bind(&MonocularSlamNode::GrabImage, this, std::placeholders::_1));
    std::cout << "slam changed" << std::endl;
}

2.重新编译ORB_SLAM3_ROS2功能包

cd ~/slam_ws
colcon build --symlink-install --packages-select orbslam3

3.使用ros2 run启动orbslam3 mono（单目rgb）

需要传入俩个目录参数

第一个目录为相机的校准文件，直接使用ORB_SLAM3/Vocabulary/ORBvoc.txt（官方配置）

第二个目录为相机的配置文件，也是直接用官方的ORB_SLAM3/Examples/Monocular/TUM1.yaml

ros2 run orbslam3 mono /home/cennum/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/cennum/ORB_SLAM3/Examples/Monocular/TUM1.yaml

注意还有ORB_SLAM3的环境变量

echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/cennum/ORB_SLAM3/lib' >> ~/.bashrc
source ~/.bashrc

4.启动效果