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Getting started
Description: Bringing up cyphy_vis_slam using a bag file and launch fileKeywords: visual_slam, slam
Tutorial Level: INTERMEDIATE
Contents
Download Dataset
Datasets are available at the CyPhy Lab, with QUT Level 7 available in rosbag format.
Bring up Stereo Vision
The cyphy_vslam_launch package contains a launch file to bring up stereo vo (using viso2_ros) and also sets up the necessary static transforms for the robot.
Note that the static transforms provided in the default launch file are specific to our MobileRobots Research Guiabot - you will need to at the very least provide a new transform for the base_link to camera_0 frame.
Note we also provide a zero transform from /base_link to /base_footprint here and make use of the /odometry_combined frame throughout. We did this for compatability with robot_pose_ekf, although this has not been tested so far.
roslaunch cyphy_vslam_launch vo.launch
Bring up image_cache
You will need to change the cache_path variable in cache_launch.launch to somewhere on your local system. Other defaults should be fine.
roslaunch image_cache cache_launch.launch
Bring up slam_backend
For visualization purposes, we set the slam_map_frame to be the same as the odometry frame (in our case odom_combined).
rosrun slam_backend slam_backend _slam_map_frame:=odom_combined
Bring up geometric_verification
roslaunch geometric_verification geometric_verification.launch
Bring up appearance matching
Note you only need to run one (1) of the following loop closers.
OpenFABMAP
See the openfabmap2 package for more information.
roslaunch openfabmap2 run.launch
template_matching
roslaunch template_matching default.launch threshold:=0.013
