<> {{{#!wiki red/solid = WARNING = vslam is experimental research code. It is not actively being supported, and should be used at your own risk, but patches are welcome. If you would like a robust method of localization and mapping with a stereo camera or kinect, use the 2D [[slam_gmapping]] stack. See the [[pointcloud_to_laserscan]] package from the [[turtlebot]] stack and the [[turtlebot_navigation/Tutorials/Build a map with SLAM|SLAM Gmapping with Kinect Tutorial]] for the turtlebot. }}} <> <> == Installing vslam == There are two ways to install vslam. If you want to use vslam without modifying it, it is available as a debian package under diamondback or unstable: {{{ $ sudo apt-get install ros-diamondback-vslam }}} If you want to modify the source code, you can install it from source as an overlay to diamondback or unstable. Make a new directory VSLAMDIR under the current directory, and download the source: {{{ # Download vslam sources $ svn co https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk VSLAMDIR # Set up environment $ . VSLAMDIR/setup.sh # Build $ rosmake --rosdep-install vslam_system }}} This checks out the new packages under VSLAMDIR; you can of course have VSLAMDIR anywhere in your filesystem tree. The setup.sh file puts VSLAMDIR into $ROS_PACKAGE_PATH (if you are unclear on what this means, refer to the [[ROS/Tutorials/StackInstallation|Stack Installation Tutorial]] ) or add path as {{{ export ROS_PACKAGE_PATH=/path_to_slam_directory/VSLAMDIR:$ROS_PACKAGE_PATH }}} == Documentation == If you would like to use visual SLAM within ROS, on images coming in on a ROS topic, you will want to use the [[vslam_system]] see the [[vslam_system/Tutorials/RunningVslamOnStereoData|Running VSLAM on Stereo Data]] tutorial. To use [[sba|Sparse Bundle Adjustment]], the underlying large-scale camera pose and point position optimizer library, start with the [[sba/Tutorials/IntroductionToSBA|Introduction to SBA]] tutorial. == Report a Bug == <> ##i.e.<> ## AUTOGENERATED DON'T DELETE ## CategoryStack