3D reconstruction of large scene using robot and rgb-d camera
-
ubuntu 20.04
-
pcl 1.9
sudo apt-get install libpcl-dev python3-pcl
- opencv
sudo apt-get install libopencv-dev
pip install opencv-python=4.2.0.32
-
gazebo ros packages
sudo apt-get install ros-noetic-gazebo-ros-pkgs \
ros-noetic-gazebo-ros-control \
ros-noetic-effort-controllers \
ros-noetic-joint-state-controller \
ros-noetic-controller-manager \
ros-noetic-geographic-msgs \
ros-noetic-sensor-msgs \
ros-noetic-unique-identifier \
ros-noetic-geographic-info
- hector_quadrotor and its depend packages
- clone the repo to you workspace (e.g., 'catkin_ws/src')
git clone -b noetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
- change the version of hector_quadrotor.rosinstall to noetic-devel
cd catkin_ws
rosdep install --from-paths src --ignore-src
- build the catkin_ws
catkin_make
- clone the repo and install dependencies
git clone https://github.com/thien94/orb_slam3_ros_wrapper.git
- add launch file (rsd435_rgbd.launch) and yaml file, configuring to use realsense d435 camera
<node name="orb_slam3_rbgd" pkg="orb_slam3_ros_wrapper" type="orb_slam3_ros_wrapper_rgbd" output="screen">
<remap from="/camera/rgb/image_raw" to="/uav1/rsd435/color/image_raw"/>
<remap from="/camera/depth_registered/image_raw" to="/uav1/rsd435/depth/image_raw"/>
...
</node>
roslaunch ss_gazebo single_scanning.launch
roslaunch orb_slam3_ros_wrapper rsd435_rgbd.launch
if gazebo is not killed, run
killall -9 gzserver