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modify orbslam2

This commit is contained in:
robin_shaun 2021-06-24 16:27:57 +08:00
parent 57e9992e8d
commit 269f1cec8a
2 changed files with 4 additions and 5 deletions
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7
sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
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@ -117,12 +117,11 @@ int main(int argc, char **argv)
ros::NodeHandle nh;
//ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/orbslamv2/vision_pose/pose", 100);
ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/iris_0/mavros/vision_pose/pose", 100);
ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/orbslam2/vision_pose/pose", 100);
igb.SetPub(&pose_pub);
message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/iris_0/stereo_camera/left/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/iris_0/stereo_camera/right/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/left/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/camera/right/image_raw", 1);
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
message_filters::Synchronizer<sync_pol> sync(sync_pol(10), left_sub,right_sub);
sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2));

2
sensing/slam/vslam/ORB_SLAM2/xtdrone_run_stereo.sh
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@ -1 +1 @@
rosrun ORB_SLAM2 Stereo ~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/catkin_ws/src/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml true
rosrun ORB_SLAM2 Stereo ~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/catkin_ws/src/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml true /camera/left/image_raw:=/iris_0/stereo_camera/left/image_raw /camera/right/image_raw:=/iris_0/stereo_camera/right/image_raw /orbslam2/vision_pose/pose:=/iris_0/mavros/vision_pose/pose