Mirror Notes

1. cd to this repo

2. docker build -f Dockerfile -t vslam:0.0.1 --build-arg NUM_THREADS=12 .
   

   • a FBoW vocab file is saved to VOCAB_FILE_PATH
   • config/ is copied to CONFIG_PATH, which is set to /vslam_config

3. docker run --rm -it -m 8g -u $(id -u):$(id -g) --net=host -v /dev/shm:/dev/shm -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -e RMW_IMPLEMENTATION=$RMW_IMPLEMENTATION vslam:0.0.1
   

   • if you require X11, include -v /tmp/.X11-unix/:/tmp/.X11-unix:ro -e DISPLAY=$DISPLAY
   • to bind mount this repository, include -v $(pwd):/ros2_ws/src/stella_vslam_ros
     • to re-build with this bind mount: colcon build --packages-select stella_vslam_ros
   • example of bind mounting a folder for saving maps:
     1. mkdir maps
     2. sudo chmod 777 maps
     3. include -v $(pwd)/maps:/maps
     4. ros2 service call /vslam/save_map nav2_msgs/srv/SaveMap "{map_url: "/maps/test_map"}"
4. ZED2 stereo:

   ros2 run stella_vslam_ros vslam_node --ros-args -p vocab:=$VOCAB_FILE_PATH -p config:=$CONFIG_PATH/zed2.yaml -p publish_tf:=false -p camera_frame:=zed2_left_camera_frame -r camera/left/image_raw:=/zed2/zed_node/left/image_rect_gray -r camera/right/image_raw:=/zed2/zed_node/right/image_rect_gray
   

   • if there is some error similar to Error: Can't open display: :0 or Failed to open X display:
     1. Exit the container
     2. xhost local:docker
     3. Re-run the container

vslam_node

Added parameters

• config: path to a config file, e.g. config/zed2.yaml
• vocab: path to a vocab file
• rectify_stereo (default: false): rectify inbound stereo image pairs
• map: loads a map file for localization if not empty

Added services

• load_map: load a map file
• save_map: save a map file
• enable_mapping: choose between SLAM (true) and localization only (false)

stella_vslam_ros

stella_vslam's ROS package.

Subscribed topics

monocular setup

• camera/image_raw

stereo setup

• camera/left/image_raw
• camera/right/image_raw

RGBD setup

• camera/color/image_raw
• camera/depth/image_raw

Published topics

• ~/camera_pose

Parameters

• odom_frame
• map_frame
• base_link
• camera_frame
• publish_tf
• transform_tolerance
• use_exact_time (stereo, RGBD only)

Tutorial

Users unfamiliar with docker, ROS2, or stella_vslam should refer to the tutorial.