Turbot3-DL入门教程-orbslam3建图

文章说明

• 本文章主要介绍如果使用orbslam3进行建图

操作步骤

• [TurBot3] 启动底盘

$ roslaunch turbot3_bringup core.launch

• [TurBot3] 启动D435i相机

$ roslaunch realsense2_camera rs_camera.launch

• [TurBot3] 启动orbslam3程序

# Mono
$ rosrun ORB_SLAM3 Mono /home/ubuntu/tools/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/ubuntu/tools/ORB_SLAM3/Examples/Monocular/RealSense_D435i.yaml 
# RGBD
rosrun ORB_SLAM3 RGBD /home/ubuntu/tools/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/ubuntu/tools/ORB_SLAM3/Examples/RGB-D/RealSense_D435i.yaml