ORB_SLAM3_ROS2_pointcloud

ROS 2 wrapper for ORB-SLAM3 with point cloud generation support.

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📺 Demo Video

https://youtu.be/hwASetrvGZs?si=L7dGaWlm62rIHIhy

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📋 Prerequisites

This repository was tested with:

• Ubuntu 22.04
• ROS 2 Humble

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🔨 Build ORB-SLAM3

Build ORB_SLAM3

• Go to this repo and follow build instruction.

cd ~/colcon_ws/src/ORB_SLAM3_ROS2_pointcloud/ORB_SLAM3
./build.sh

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⚙️ Build Instructions

Prepare workspace:

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone https://github.com/ahnavocado/ORB_SLAM3_ROS2_pointcloud.git

Change this line to your own python site-packages path

Change this line to your own ORB_SLAM3 path

Build:

cd ~/colcon_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install --packages-ignore orbslam2 \
  --cmake-args -DCMAKE_CXX_FLAGS="-Wno-error -Wno-error=deprecated-declarations -Wno-deprecated-declarations -Wno-error=reorder -Wno-error=unused-parameter"

Source environment:

source install/setup.bash

Extract vocabulary:

tar -xvzf ./src/ORB_SLAM3_ROS2_pointcloud/vocabulary/ORBvoc.txt.tar.gz -C ./src/ORB_SLAM3_ROS2_pointcloud/vocabulary/

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▶️ Usage

Run Monocular SLAM

ros2 run orbslam3_ros2_pointcloud mono \
  ./src/ORB_SLAM3_ROS2_pointcloud/ORB_SLAM3_ROS2/vocabulary/ORBvoc.txt \
  ./src/ORB_SLAM3_ROS2_pointcloud/ORB_SLAM3_ROS2/config/monocular/TUM1.yaml \
  --ros-args -r camera:=/camera/image_raw

The ORB-SLAM3 ROS 2 node subscribes to /camera/image_raw and /camera/camera_info for SLAM execution.

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🐞 Troubleshooting

• setup.cfg warnings

  UserWarning: Unknown distribution option: 'tests_require'
  

  → Caused by setuptools version mismatch:

  pip install setuptools==58.2.0

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📦 Supported Modes

This repository currently supports:

• Monocular (mono)
• Stereo (stereo) (To be Developed)

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🙏 Acknowledgments

• ORB-SLAM3 (UZ-SLAMLab)
• ros2_orbslam3

This project extends ORB-SLAM3 with ROS 2 integration and point cloud generation.

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▶️ Testing with EuRoC Image

Check out this repo for additional info