stella_vslam_ros

stella_vslam's ROS package.

Install instruction

stella_vslam_ros uses submodules. Clone it with git clone --recursive or download submodules with git submodule update --init --recursive.

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
• ~/pointcloud
• /tf

Parameters

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

Usage Example

To run stella_vslam_ros, you can execute the following command directly using rosrun:

rosrun stella_vslam_ros run_slam \
    -v /path to/orb_vocab.fbow \
    -c /path to/file.yaml \
    --mask /path to/mask.png \
    --map-db-out /path to/map.msg \
    --eval-log-dir /path to save your SLAM/Evaluation \
    --use-rosbag-timestamps

Parameters in the command:

• -v: Specifies the path to the vocabulary file for ORB-SLAM.
• -c: The configuration file for the camera.
• --mask: Path to the mask image for the camera.
• --map-db-out: Specifies the output file where the map database will be saved.
• --eval-log-dir: Directory to store evaluation logs.
• --use-rosbag-timestamps: Ensures that the timestamps from the rosbag are used for synchronization.