ubantu20.04 跑通ros2版的orbslam2

我的历程

先编译的非ros版的robslam2（非常详细）

ubuntu20.04配置并编译ORB-SLAM2_ubuntu20.04安装orb-lslam2-CSDN博客

然后装ros2（非常详细）

详细介绍如何在ubuntu20.04中安装ROS系统，超快完成安装（最新版教程）_ubuntu安装ros-CSDN博客

遇到的问题
一、usb_cam-test.launch的内容git下来的项目不可用，需要手动更改为

<launch><node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" ><param name="video_device" value="/dev/video0" /><param name="image_width" value="640" /><param name="image_height" value="480" /><param name="pixel_format" value="yuyv" /><param name="camera_frame_id" value="usb_cam" /><param name="io_method" value="mmap"/></node><node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"><remap from="image" to="/usb_cam/image_raw"/><param name="autosize" value="true" /></node>
</launch>

二、相机标定找到标定结果文件后，按照其数据修改Examples/ROS/ORB_SLAM2目录下Asus.yaml。

标定文件

# oST version 5.0 parameters[image]width
640height
480[narrow_stereo]camera matrix
796.930694 0.000000 286.884431
0.000000 813.678506 319.738009
0.000000 0.000000 1.000000distortion
0.040080 -0.391803 0.041621 -0.044204 0.000000rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000projection
785.134277 0.000000 266.168442 0.000000
0.000000 804.472961 331.780934 0.000000
0.000000 0.000000 1.000000 0.000000

修改后的asus文件

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 796.93069
Camera.fy: 813.67851
Camera.cx: 286.88443
Camera.cy: 319.73801Camera.k1: 0.040080
Camera.k2: -0.391803
Camera.p1: 0.041621
Camera.p2: -0.044204

三、编译./build_ros.sh

第一个问题

-- Configuring incomplete, errors occurred!
See also "/home/user/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found. Stop.

编译失败一次记得删掉ros下的build文件

有conda环境的或者此时报错的可以试下conda deactivate

然后.bashrc文件最后三行应该是这

source /home/you/catkin_ws/devel/setup.sh
source /opt/ros/noetic/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/you/catkin_ws/src/ORB_SLAM2/Examples/ROS