This project is based on ORB_SLAM2 generate and release pointcloud data, octree data and 2D grid occupy map. And map saving and overloading are added.

Node API


Subscribed Topics

/camera/color/image_raw (sensor_msgs/Image)
  • Camera RGB image.
/camera/depth/image_rect_raw (sensor_msgs/Image)
  • Camera depth image.
/orbslam2/pointcloud (sensor_msgs/PointCloud2)
  • Point cloud image

Published Topics

/orbslam2/octomap (octomap_msgs/Octomap)
  • Octree map.
/orbslam2/occupancymap (octomap_msgs/Octomap)
  • Two-digit occupancy grid map.
/orbslam2/odometry (nav_msgs/Odometry)
  • Odom frame data.

Wiki: orb_slam2_with_maps_odom (last edited 2020-09-16 10:37:12 by SuperAruba)