视觉里程计
visual_slam_node
语言：English / 中文
视觉里程计及建立用于触发回环检测的 landmark 地图。给机器人一个准确的里程计信息而不是定位信息。
Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 5.1.2 , ros-humble |
Published
ROS Topic |
Interface |
Frame ID |
Description |
|---|---|---|---|
vslam/Odometry |
nav_msgs::msg::Odometry |
odom | camera_link |
纯VO状态下的里程计 60 hz |
vslam/PointMap |
sensor_msgs::msg::PointCloud2 |
odom |
vslam的landmark 10 hz |
Subscribed
ROS Topic |
Interface |
Frame ID |
Description |
|---|---|---|---|
camera/left_raw |
sensor_msgs::msg::Image |
left_cam_raw |
左目相机图像 |
camera/image_raw |
sensor_msgs::msg::Image |
right_cam_raw |
右目相机图像 |
camera/left_info |
sensor_msgs::msg::CameraInfo |
left_cam_raw |
左目相机标定数据 |
camera/right_info |
sensor_msgs::msg::CameraInfo |
right_cam_raw |
右目相机标定数据 |
Service
Service Topic |
Call Interface |
Return Interface |
Description |
|---|---|---|---|
service name |
std_msgs::msg::Float64 ｜ std_msgs::msg::Float64 |
std_msgs::msg::Float64 |
一个service的案例 |
Build Package
# if have extra dependencies
apt install libopencv-dev
apt install libpcl-dev
colcon build --packages-select visual_slam_node