{"id":294,"date":"2025-03-25T18:18:53","date_gmt":"2025-03-25T10:18:53","guid":{"rendered":"http:\/\/cennum.top\/?p=294"},"modified":"2025-05-31T02:12:30","modified_gmt":"2025-05-30T18:12:30","slug":"orb-slam3_ros2","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/03\/25\/orb-slam3_ros2\/","title":{"rendered":"\u5728ROS2\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u5b89\u88c5ORB-SLAM3"},"content":{"rendered":"\n<p>\u6211\u7684ROS2\u5de5\u4f5c\u7a7a\u95f4\u8def\u5f84\u4e3a\/home\/cennum\/cyberdog_sim\/<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b89\u88c5\u5176\u4ed6ORB-SLAM3\u4f9d\u8d56<\/strong><\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install -y \\\n    build-essential \\\n    libboost-all-dev \\\n    libeigen3-dev \\\n    libopencv-dev \\\n    libsuitesparse-dev \\\n    ros-galactic-nav2-bringup \\\n    ros-galactic-navigation2<\/code><\/pre>\n\n\n\n<p>\u4e0b\u8f7d<strong>ORB-SLAM3<\/strong><\/p>\n\n\n\n<p>\u8fdb\u5165\u5de5\u4f5c\u7a7a\u95f4\u7684src\u76ee\u5f55\u4e0b\u62c9\u53d6<strong>ORB-SLAM3<\/strong>\u6e90\u4ee3\u7801<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd \/home\/cennum\/cyberdog_ws\/src<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3.git<\/code><\/pre>\n\n\n\n<p><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b89\u88c5libepoxy\u4f9d\u8d56<\/strong><\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt-get install -y \\\n  libepoxy-dev \\\n  libegl-dev \\\n  libgles2-mesa-dev \\\n  libwayland-dev \\\n  libxkbcommon-dev \\\n  wayland-protocols<\/code><\/pre>\n\n\n\n<p>\u5b89\u88c5Pangolin\u7684\u6240\u6709\u4f9d\u8d56<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt-get install -y \\\n  libgl1-mesa-dev \\\n  libglew-dev \\\n  cmake \\\n  libpython3-dev \\\n  libeigen3-dev \\\n  apt-utils \\\n  libjpeg-dev \\\n  libavcodec-dev \\\n  libavutil-dev \\\n  libavformat-dev \\\n  libswscale-dev \\\n  libavdevice-dev \\\n  libdc1394-dev \\\n  libraw1394-dev \\\n  libopenni-dev \\\n  python3-dev \\\n  python3-numpy \\\n  libtbb-dev \\\n  libuvc-dev \\\n  libepoxy-dev<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4e0b\u8f7d\u5b89\u88c5Pangolin<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u8fdb\u5165\u521a\u624dclon\u7684ORB_SLAM3\u6587\u4ef6\u5939\u7684\u7b2c\u4e09\u65b9\u5305Thirdparty<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd ORB_SLAM3\/Thirdparty<\/code><\/pre>\n\n\n\n<p>\u62c9\u53d6<strong>Pangolin<\/strong>\u6e90\u4ee3\u7801<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/github.com\/stevenlovegrove\/Pangolin.git<\/code><\/pre>\n\n\n\n<p>\u5b8c\u6210\u540e\u8fdb\u5165\u8be5\u76ee\u5f55<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd Pangolin<\/code><\/pre>\n\n\n\n<p>\u521b\u5efa\u5e76\u8fdb\u5165build\u76ee\u5f55<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>mkdir build &amp;&amp; cd build<\/code><\/pre>\n\n\n\n<p>\u7f16\u8bd1\u5b89\u88c5<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cmake .. -DCMAKE_BUILD_TYPE=Release \\\n    -DBUILD_EXAMPLES=OFF \\\n    -DBUILD_TESTS=OFF \\\n    -DBUILD_TOOLS=OFF \\\n    -DBUILD_SHARED_LIBS=OFF \\\n    -DCMAKE_CXX_FLAGS=\"-w -std=c++11\" \\\n    -DBUILD_PANGOLIN_VIDEO=OFF \\\n    -DBUILD_PANGOLIN_FFMPEG=OFF \\\n    -DBUILD_PANGOLIN_DC1394=OFF \\\n    -DBUILD_PANGOLIN_OPENNI=OFF \\\n    -DBUILD_PANGOLIN_OPENNI2=OFF \\\n    -DBUILD_PANGOLIN_PLEORA=OFF \\\n    -DBUILD_PANGOLIN_TELICAM=OFF \\\n    -DBUILD_PANGOLIN_UVC=OFF \\\n    -DBUILD_PANGOLIN_V4L=OFF \\\n    -DBUILD_PANGOLIN_DEPTHSENSE=OFF \\\n    -DBUILD_PANGOLIN_REALSENSE=OFF<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>make -j4<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo make install<\/code><\/pre>\n\n\n\n<p>\u7f16\u8bd1\u5b89\u88c5\u8fc7\u7a0b \u4f1a\u56e0\u4e3a\u6bcf\u4e2a\u4eba\u7684\u73af\u5883\u4e0d\u540c\u51fa\u73b0\u5404\u79cd\u5404\u6837\u7684\u62a5\u9519\uff0c\u95eechatgpt\u9010\u4e00\u89e3\u51b3<\/p>\n\n\n\n<p><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b89\u88c5\u7cfb\u7edf\u4f9d\u8d56<\/strong><\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install -y \\\n    build-essential \\\n    cmake \\\n    git \\\n    libboost-all-dev \\\n    libeigen3-dev \\\n    libopencv-dev \\\n    libglew-dev \\\n    libpython3-dev \\\n    gcc-7 \\\n    g++-7<\/code><\/pre>\n\n\n\n<p>\u6ce8\u610f\u5207\u6362gcc\u7248\u672c<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7f16\u8bd1DBoW2\u548cg2o<\/strong><\/li>\n<\/ul>\n\n\n\n<p><strong>DBoW2<\/strong>\u4f4d\u4e8e<strong>ORB-SLAM3<\/strong>\u6e90\u4ee3\u7801\u76ee\u5f55\u7684Thirdparty\u76ee\u5f55\u4e0b\uff0c\u8fdb\u5165\u7f16\u8bd1\u5b83!<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd ..\/..\/DBoW2<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>mkdir build &amp;&amp; cd build<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>cmake ..<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>make -j4<\/code><\/pre>\n\n\n\n<p><strong>g2o<\/strong>\u4f4d\u4e8e<strong>ORB-SLAM3<\/strong>\u6e90\u4ee3\u7801\u76ee\u5f55\u7684Thirdparty\u76ee\u5f55\u4e0b\uff0c\u8fdb\u5165\u7f16\u8bd1\u5b83!<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd ..\/..\/g2o<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>mkdir build &amp;&amp; cd build<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>cmake .. -DCMAKE_BUILD_TYPE=Release \\\n    -DBUILD_EXAMPLES=OFF \\\n    -DBUILD_TESTS=OFF \\\n    -DBUILD_TOOLS=OFF \\\n    -DBUILD_SHARED_LIBS=OFF \\\n    -DCMAKE_CXX_FLAGS=\"-w -std=c++11\" \\\n    -DBUILD_PANGOLIN_VIDEO=OFF \\\n    -DBUILD_PANGOLIN_FFMPEG=OFF \\\n    -DBUILD_PANGOLIN_DC1394=OFF \\\n    -DBUILD_PANGOLIN_OPENNI=OFF \\\n    -DBUILD_PANGOLIN_OPENNI2=OFF \\\n    -DBUILD_PANGOLIN_PLEORA=OFF \\\n    -DBUILD_PANGOLIN_TELICAM=OFF \\\n    -DBUILD_PANGOLIN_UVC=OFF \\\n    -DBUILD_PANGOLIN_V4L=OFF \\\n    -DBUILD_PANGOLIN_DEPTHSENSE=OFF \\\n    -DBUILD_PANGOLIN_REALSENSE=OFF<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>make -j4<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4fee\u6539ORB_SLAM3\u76ee\u5f55\u4e0b\u7684CMakeLists.txt<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u627e\u5230\u8fd9\u884c<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>find_package(OpenCV 4.4)<\/code><\/pre>\n\n\n\n<p>\u4fee\u6539\u4e3a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>find_package(OpenCV 4.2 QUIET)<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b89\u88c5realsense<\/strong><\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install -y \\\n  libssl-dev \\\n  libusb-1.0-0-dev \\\n  pkg-config \\\n  libgtk-3-dev<\/code><\/pre>\n\n\n\n<p>\u5b89\u88c5RealSense SDK<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>apt install -y ros-galactic-librealsense2*<\/code><\/pre>\n\n\n\n<p>\u6dfb\u52a0\u5168\u5c40\u53d8\u91cf<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>echo 'export LD_LIBRARY_PATH=\/home\/cennum\/cyberdog_sim\/src\/ORB_SLAM3\/Thirdparty\/Pangolin\/build:$LD_LIBRARY_PATH' &gt;&gt; ~\/.bashrc<\/code><\/pre>\n\n\n\n<p>\u8bb0\u5f97\u4fee\u6539LD_LIBRARY_PATH=\u4f60\u7684\u8def\u5f84<\/p>\n\n\n\n<p>\u751f\u6548<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>source ~\/.bashrc<\/code><\/pre>\n\n\n\n<p>\u5b89\u88c5cv-bridge<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install ros-galactic-cv-bridge<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u521b\u5efa\u4e00\u4e2aC++\u5305\u88c5\u5668<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u8fdb\u5165ORB_SLAM3\u6839\u76ee\u5f55\u521b\u5efa<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>mkdir wrapper<\/code><\/pre>\n\n\n\n<p>\u518d\u521b\u5efa\u5305\u88c5\u5668\u5934\u6587\u4ef6 orb_slam3_wrapper.hpp<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>touch orb_slam3_wrapper.hpp<\/code><\/pre>\n\n\n\n<p>\u7f16\u8f91orb_slam3_wrapper.hpp\uff0c\u52a0\u5165\u4ee5\u4e0b\u5185\u5bb9<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>#ifndef ORB_SLAM3_WRAPPER_HPP\n#define ORB_SLAM3_WRAPPER_HPP\n\n#include &lt;string&gt;\n#include \"System.h\"\n\nextern \"C\" {\n    \/\/ \u521b\u5efaSLAM\u7cfb\u7edf\n    ORB_SLAM3::System* createSystem(const char* vocab_path, \n                                  const char* settings_path, \n                                  const char* sensor_type);\n    \n    \/\/ \u5904\u7406RGBD\u5e27\n    void trackRGBD(ORB_SLAM3::System* slam,\n                  const unsigned char* rgb_data,\n                  const float* depth_data,\n                  int width, int height,\n                  double timestamp);\n                  \n    \/\/ \u5173\u95ed\u7cfb\u7edf\n    void shutdownSystem(ORB_SLAM3::System* slam);\n}\n\n#endif<\/code><\/pre>\n\n\n\n<p>\u521b\u5efa\u5305\u88c5\u5668\u6e90\u6587\u4ef6 orb_slam3_wrapper.cpp<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>touch orb_slam3_wrapper.cpp<\/code><\/pre>\n\n\n\n<p>\u7f16\u8f91\u52a0\u5165\u4ee5\u4e0b\u5185\u5bb9<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>#include \"orb_slam3_wrapper.hpp\"\n#include &lt;opencv2\/core\/core.hpp&gt;\n\nextern \"C\" {\n    ORB_SLAM3::System* createSystem(const char* vocab_path, \n                                   const char* settings_path, \n                                   const char* sensor_type) {\n        return new ORB_SLAM3::System(vocab_path, settings_path, \n                                    ORB_SLAM3::System::RGBD);\n    }\n\n    void trackRGBD(ORB_SLAM3::System* slam,\n                   const unsigned char* rgb_data,\n                   const float* depth_data,\n                   int width, int height,\n                   double timestamp) {\n        if (!slam) return;\n        \n        cv::Mat rgb(height, width, CV_8UC3, (void*)rgb_data);\n        cv::Mat depth(height, width, CV_32F, (void*)depth_data);\n        \n        slam-&gt;TrackRGBD(rgb, depth, timestamp);\n    }\n    \n    void shutdownSystem(ORB_SLAM3::System* slam) {\n        if (slam) {\n            slam-&gt;Shutdown();\n            delete slam;\n        }\n    }\n}<\/code><\/pre>\n\n\n\n<p>\u4fee\u6539\u4e3b\u76ee\u5f55\u4e0bCMakeLists.txt<\/p>\n\n\n\n<p>1.\u5728\u9879\u76ee\u7684CMakeLists.txt\u4e2d<strong>\u6700\u9876\u90e8<\/strong>\u6dfb\u52a0\u4ee5\u4e0b\u884c\u6765\u542f\u7528C++14\u6807\u51c6<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>set(CMAKE_CXX_STANDARD 14)\nset(CMAKE_CXX_STANDARD_REQUIRED ON)\nset(CMAKE_CXX_EXTENSIONS OFF)<\/code><\/pre>\n\n\n\n<p>2.\u4fee\u6539CMAKE_CXX_FLAGS\uff0c\u6539\u6210\u4e0b\u9762<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>set(CMAKE_CXX_FLAGS \"-std=c++14 ${CMAKE_CXX_FLAGS} -Wall  -O3\")<\/code><\/pre>\n\n\n\n<p>3.\u6dfb\u52a0\u5305\u88c5\u5668\u7f16\u8bd1,\u5728ORB_SLAM3\u7684CMakeLists.txt\u4e2d\u6dfb\u52a0<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>add_library(orb_slam3_wrapper SHARED\n    wrapper\/orb_slam3_wrapper.cpp\n)\n\ntarget_link_libraries(orb_slam3_wrapper\n    ${PROJECT_NAME}\n)\n\ninstall(TARGETS orb_slam3_wrapper\n    LIBRARY DESTINATION lib\n    RUNTIME DESTINATION bin\n)<\/code><\/pre>\n\n\n\n<p>\u56de\u5230ORB_SLAM3\u6839\u76ee\u5f55\u4e0b\u7684build\u76ee\u5f55<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd ..\/..\ncd build\/<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>cmake .. -DCMAKE_BUILD_TYPE=Release \\\n         -DUSE_ROS=ON \\\n         -DROS_VERSION=2 \\\n         -DBUILD_SHARED_LIBS=ON<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>make<\/code><\/pre>\n\n\n\n<p><\/p>\n\n\n\n<p>\u5b89\u88c5\u5b8c\u6210\u53ef\u80fd\u5bfc\u81f4ros-galactic-gazebo-ros-pkgs\u5f02\u5e38\uff0c\u5bfc\u81f4\u4e0d\u51fa\u73b0gazebo\u8bdd\u9898\u7684\u60c5\u51b5\uff0c\u91cd\u65b0\u5b89\u88c5\u5373\u53ef<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install ros-galactic-gazebo-ros-pkgs<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u6211\u7684ROS2\u5de5\u4f5c\u7a7a\u95f4\u8def\u5f84\u4e3a\/home\/cennum &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2,30],"tags":[13],"class_list":["post-294","post","type-post","status-publish","format-standard","hentry","category-linux","category-ros2","tag-13"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/294","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=294"}],"version-history":[{"count":4,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/294\/revisions"}],"predecessor-version":[{"id":304,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/294\/revisions\/304"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=294"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=294"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=294"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}