{"id":534,"date":"2025-06-05T22:40:15","date_gmt":"2025-06-05T14:40:15","guid":{"rendered":"https:\/\/cennum.top\/?p=534"},"modified":"2025-06-06T02:19:16","modified_gmt":"2025-06-05T18:19:16","slug":"ros2-humble%e4%b8%8b%e4%bd%bf%e7%94%a8astra-pro%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba%e8%bf%90%e8%a1%8corb-slam3","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/06\/05\/ros2-humble%e4%b8%8b%e4%bd%bf%e7%94%a8astra-pro%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba%e8%bf%90%e8%a1%8corb-slam3\/","title":{"rendered":"ros2 humble\u4e0b\u4f7f\u7528Astra Pro\u6df1\u5ea6\u76f8\u673a\u8fd0\u884corb-slam3"},"content":{"rendered":"\n<p>\u672c\u6559\u7a0b\u524d\u63d0\uff1aAstra Pro\u5728ros2\u4e2d\u90e8\u7f72\u6210\u529f\uff08\u5176\u4ed6usb\u76f8\u673a\u4e5f\u53ef\u4ee5\uff09\uff0corb-slam3\u5728ubuntu\u4e2d\u90e8\u7f72\u6210\u529f<\/p>\n\n\n\n<p><strong>\u53c2\u8003\u6587\u7ae0\uff1a<\/strong><\/p>\n\n\n\n<p>\u5b98\u65b9\u6587\u6863\uff1a<a href=\"https:\/\/github.com\/zang09\/ORB_SLAM3_ROS2\/blob\/humble\/README.md\">https:\/\/github.com\/zang09\/ORB_SLAM3_ROS2\/blob\/humble\/README.md<\/a><\/p>\n\n\n\n<p>CSDN\u6587\u7ae0\uff1a<a href=\"https:\/\/blog.csdn.net\/liiiuzy\/article\/details\/136272727?fromshare=blogdetail&amp;sharetype=blogdetail&amp;sharerId=136272727&amp;sharerefer=PC&amp;sharesource=m0_72797388&amp;sharefrom=from_link\">https:\/\/blog.csdn.net\/liiiuzy\/article\/details\/136272727?fromshare=blogdetail&amp;sharetype=blogdetail&amp;sharerId=136272727&amp;sharerefer=PC&amp;sharesource=m0_72797388&amp;sharefrom=from_link<\/a><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u514b\u9686\u4ed3\u5e93<\/h3>\n\n\n\n<p>\u5c06ORB_SLAM3_ROS2\u4ed3\u5e93\u514b\u9686\u5230\u4f60\u7684 ROS \u5de5\u4f5c\u7a7a\u95f4<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>mkdir -p slam_ws\/src\ncd ~\/slam_ws\/src\ngit clone https:\/\/github.com\/zang09\/ORB_SLAM3_ROS2.git orbslam3_ros2<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u4fee\u6539\u6e90\u7801<\/h3>\n\n\n\n<p>\u4e0b\u8f7d\u5b8c\u6210\u540e\u4fee\u6539orbslam3_ros2\u76ee\u5f55\u4e0b\u7684 CMakeLists.txt<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c06\u7b2c 5 \u884c\u4e2d\u7684\u8def\u5f84\u4fee\u6539\u4e3a\u81ea\u5df1\u672c\u673a ROS2 site-packages \u7684\u8def\u5f84\uff0c\u4e00\u822c\u6765\u8bf4\u90fd\u5728\/opt\/ros\/humble\/lib\/python3.10\/site-packages<\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>set(ENV{PYTHONPATH} \"\/opt\/ros\/humble\/lib\/python3.10\/site-packages\")<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4fee\u6539slam_ws\/src\/orbslam3_ros2\/CMakeModules\/FindORB_SLAM3.cmake\u6587\u4ef6,\u8fd9\u4e2a\u662f\u4f60\u7684ORB_SLAM3\u6240\u5728\u7684\u8def\u5f84<\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>set(ORB_SLAM3_ROOT_DIR \"\/home\/cennum\/ORB_SLAM3\")<\/code><\/pre>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u5b89\u88c5\u4f9d\u8d56<\/h3>\n\n\n\n<p><\/p>\n\n\n\n<p>1.ros\u4f9d\u8d56<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>sudo apt install ros-$ROS_DISTRO-vision-opencv &amp;&amp; sudo apt install ros-$ROS_DISTRO-message-filters<\/code><\/pre>\n\n\n\n<p>2.\u5b89\u88c5sophus<\/p>\n\n\n\n<p>\u5728\u4f60\u7684ORB_SLAM3\/Thirdparty\/Sophus\u4e0b\u7f16\u8bd1\u5b89\u88c5Sophus<\/p>\n\n\n\n<p>\u8fdb\u5165build\u76ee\u5f55\u53ef\u4ee5\u76f4\u63a5\u5b89\u88c5\uff0c\u56e0\u4e3a\u5728\u7f16\u8bd1ORB_SLAM3\u7684\u65f6\u5019\u4e00\u8d77\u7f16\u8bd1\u4e86\u4f46\u662f\u6ca1\u6709\u5b89\u88c5\u8fc7<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>cd ~\/{ORB_SLAM3_ROOT_DIR}\/Thirdparty\/Sophus\/build\nsudo make install<\/code><\/pre>\n\n\n\n<p>3.\u6ce8\u610f\u8981\u4f7f\u7528&nbsp;<code>OpenCV 4.5.4<\/code>&nbsp;\u7248\u672c\u8fdb\u884c\u7f16\u8bd1\uff08\u5b98\u65b9\u5efa\u8bae\uff09<\/p>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u5728\u5de5\u4f5c\u7a7a\u95f4\u4e0b\u7f16\u8bd1ORB_SLAM3_ROS2<\/h3>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>cd ~\/slam_ws\ncolcon build --symlink-install --packages-select orbslam3<\/code><\/pre>\n\n\n\n<p><strong>\u7f16\u8bd1\u8fc7\u7a0b\u4f1a\u9047\u5230\u7684\u95ee\u9898:<\/strong><\/p>\n\n\n\n<p>\u5982\u679c\u7f16\u8bd1\u65f6\u63d0\u793a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>undefined reference to symbol 'cv::initUndistortRectifyMap(\u2026)'\n\/usr\/lib\/x86_64-linux-gnu\/libopencv_calib3d.so.4.5d: error adding symbols: DSO missing from command line<\/code><\/pre>\n\n\n\n<p>\u8fd9\u8bf4\u660e\u4f60\u7528\u4e86 OpenCV \u7684\u51fd\u6570\uff0c\u4f46\u94fe\u63a5\u5668\u6ca1\u6709\u94fe\u63a5\u5230 <code>libopencv_calib3d.so<\/code>\u3002<\/p>\n\n\n\n<p>\u89e3\u51b3\u65b9\u6cd5\uff1a\u4fee\u6539ORB_SLAM3_ROS2\u529f\u80fd\u5305\u4e0b\u7684 CMakeLists.txt \u6b63\u786e\u94fe\u63a5 OpenCV \u5e93<\/p>\n\n\n\n<p>\u4fee\u6539\u6709\u70b9\u590d\u6742\uff0c\u8fd9\u91cc\u76f4\u63a5\u7ed9\u51fa\u5b8c\u6574\u7684CMakeLists.txt \uff0c\u53ef\u4ee5\u76f4\u63a5\u66ff\u6362\u4e4b\u524d\u7684<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>cmake_minimum_required(VERSION 3.5)\nproject(orbslam3)\n\n# You should set the PYTHONPATH to your own python site-packages path\nset(ENV{PYTHONPATH} \"\/opt\/ros\/humble\/lib\/python3.10\/site-packages\/\")\n\nset(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}\/CMakeModules)\n\n# Default to C++14\nif(NOT CMAKE_CXX_STANDARD)\n  set(CMAKE_CXX_STANDARD 14)\nendif()\n\nif(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES \"Clang\")\n  add_compile_options(-Wall -Wextra -Wpedantic)\nendif()\n\nfind_package(ament_cmake REQUIRED)\nfind_package(rclcpp REQUIRED)\nfind_package(sensor_msgs REQUIRED)\nfind_package(cv_bridge REQUIRED)\nfind_package(message_filters REQUIRED)\nfind_package(Sophus REQUIRED)\nfind_package(Pangolin REQUIRED)\nfind_package(ORB_SLAM3 REQUIRED)\n\n# \u2705 \u65b0\u589e\uff1a\u67e5\u627e OpenCV\nfind_package(OpenCV REQUIRED)\n\ninclude_directories(\n  include\n  ${ORB_SLAM3_ROOT_DIR}\/include\n  ${ORB_SLAM3_ROOT_DIR}\/include\/CameraModels\n  ${OpenCV_INCLUDE_DIRS}  # \u2705 \u6dfb\u52a0 OpenCV \u7684\u5934\u6587\u4ef6\u8def\u5f84\n)\n\nlink_directories(\n  include\n)\n\nadd_executable(mono\n  src\/monocular\/mono.cpp\n  src\/monocular\/monocular-slam-node.cpp\n)\nament_target_dependencies(mono rclcpp sensor_msgs cv_bridge ORB_SLAM3 Pangolin)\ntarget_link_libraries(mono ${OpenCV_LIBS})  # \u2705 \u94fe\u63a5 OpenCV\n\nadd_executable(rgbd\n  src\/rgbd\/rgbd.cpp\n  src\/rgbd\/rgbd-slam-node.cpp\n)\nament_target_dependencies(rgbd rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin)\ntarget_link_libraries(rgbd ${OpenCV_LIBS})  # \u2705 \u94fe\u63a5 OpenCV\n\nadd_executable(stereo\n  src\/stereo\/stereo.cpp\n  src\/stereo\/stereo-slam-node.cpp\n)\nament_target_dependencies(stereo rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin)\ntarget_link_libraries(stereo ${OpenCV_LIBS})  # \u2705 \u94fe\u63a5 OpenCV\n\nadd_executable(stereo-inertial\n  src\/stereo-inertial\/stereo-inertial.cpp\n  src\/stereo-inertial\/stereo-inertial-node.cpp\n)\nament_target_dependencies(stereo-inertial rclcpp sensor_msgs cv_bridge ORB_SLAM3 Pangolin)\ntarget_link_libraries(stereo-inertial ${OpenCV_LIBS})  # \u2705 \u94fe\u63a5 OpenCV\n\ninstall(TARGETS mono rgbd stereo stereo-inertial\n  DESTINATION lib\/${PROJECT_NAME})\n\n#install(DIRECTORY launch config vocabulary\n#  DESTINATION share\/${PROJECT_NAME}\/)\n\nament_package()\n<\/code><\/pre>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.\u4fee\u6539\u5e76\u8fd0\u884cORB_SLAM3_ROS2\u7684ros2\u8282\u70b9<\/h3>\n\n\n\n<p>1.\u4fee\u6539\u5355\u76eergb\u542f\u52a8\u8282\u70b9<\/p>\n\n\n\n<p>\u8be5\u6587\u4ef6\u4f4d\u4e8e\/home\/cennum\/slam_ws\/src\/orbslam3_ros2\/src\/monocular\/monocular-slam-node.cpp<\/p>\n\n\n\n<p>\/camera\/color\/image_raw\u4fee\u6539\u4e3a\u4f60\u81ea\u5df1\u7684rgb\u76f8\u673a\u7684\u8bdd\u9898,\u5565\u76f8\u673a\u90fd\u53ef\u4ee5<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>MonocularSlamNode::MonocularSlamNode(ORB_SLAM3::System* pSLAM)\n:   Node(\"ORB_SLAM3_ROS2\")\n{\n    m_SLAM = pSLAM;\n    \/\/ std::cout &lt;&lt; \"slam changed\" &lt;&lt; std::endl;\n    m_image_subscriber = this-&gt;create_subscription&lt;ImageMsg&gt;(\n        \"\/camera\/color\/image_raw\",\/\/\u8fd9\u91cc\u7684\/camera\/color\/image_raw\u4fee\u6539\u4e3a\u4f60\u81ea\u5df1\u7684rgb\u76f8\u673a\u7684\u8bdd\u9898\n        10,\n        std::bind(&amp;MonocularSlamNode::GrabImage, this, std::placeholders::_1));\n    std::cout &lt;&lt; \"slam changed\" &lt;&lt; std::endl;\n}<\/code><\/pre>\n\n\n\n<p>2.\u91cd\u65b0\u7f16\u8bd1ORB_SLAM3_ROS2\u529f\u80fd\u5305<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>cd ~\/slam_ws\ncolcon build --symlink-install --packages-select orbslam3<\/code><\/pre>\n\n\n\n<p>3.\u4f7f\u7528ros2 run\u542f\u52a8orbslam3 mono\uff08\u5355\u76eergb\uff09<\/p>\n\n\n\n<p>\u9700\u8981\u4f20\u5165\u4fe9\u4e2a\u76ee\u5f55\u53c2\u6570<\/p>\n\n\n\n<p>\u7b2c\u4e00\u4e2a\u76ee\u5f55\u4e3a\u76f8\u673a\u7684\u6821\u51c6\u6587\u4ef6\uff0c\u76f4\u63a5\u4f7f\u7528ORB_SLAM3\/Vocabulary\/ORBvoc.txt\uff08\u5b98\u65b9\u914d\u7f6e\uff09<\/p>\n\n\n\n<p>\u7b2c\u4e8c\u4e2a\u76ee\u5f55\u4e3a\u76f8\u673a\u7684\u914d\u7f6e\u6587\u4ef6\uff0c\u4e5f\u662f\u76f4\u63a5\u7528\u5b98\u65b9\u7684ORB_SLAM3\/Examples\/Monocular\/TUM1.yaml<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>ros2 run orbslam3 mono \/home\/cennum\/ORB_SLAM3\/Vocabulary\/ORBvoc.txt \/home\/cennum\/ORB_SLAM3\/Examples\/Monocular\/TUM1.yaml<\/code><\/pre>\n\n\n\n<p>\u6ce8\u610f\u8fd8\u6709ORB_SLAM3\u7684\u73af\u5883\u53d8\u91cf<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:\/home\/cennum\/ORB_SLAM3\/lib' &gt;&gt; ~\/.bashrc<br>source ~\/.bashrc<\/code><\/pre>\n\n\n\n<p>4.\u542f\u52a8\u6548\u679c<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"473\" src=\"https:\/\/cennum.top\/wp-content\/uploads\/2025\/06\/image-2-1024x473.png\" alt=\"\" class=\"wp-image-537\" style=\"width:1031px;height:auto\" srcset=\"https:\/\/cennum.top\/wp-content\/uploads\/2025\/06\/image-2-1024x473.png 1024w, https:\/\/cennum.top\/wp-content\/uploads\/2025\/06\/image-2-300x139.png 300w, https:\/\/cennum.top\/wp-content\/uploads\/2025\/06\/image-2-768x355.png 768w, https:\/\/cennum.top\/wp-content\/uploads\/2025\/06\/image-2-1536x710.png 1536w, https:\/\/cennum.top\/wp-content\/uploads\/2025\/06\/image-2-2048x946.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u6559\u7a0b\u524d\u63d0\uff1aAstra Pro\u5728ros2\u4e2d\u90e8\u7f72\u6210\u529f &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":[],"class_list":["post-534","post","type-post","status-publish","format-standard","hentry","category-linux","category-ros2"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/534","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=534"}],"version-history":[{"count":8,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/534\/revisions"}],"predecessor-version":[{"id":549,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/534\/revisions\/549"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=534"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=534"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=534"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}