Kinect2+Ros runs through ORBLSAM2

One, ubuntu16.04 install kinect2 and iai-kinect2

You can refer to this article kinetic2 installation and iai-kinect2

iai-kinect2

2. KInetic+Ros runs ORBSLAM2

Step:
Open Terminal 1

git clone http://github.com/raulmur/ORB_SLAM2.git

cd ORB_SLAM2

chmod +x build.sh

 ./build.sh #可自动编译好g2o与DBoW2并且把Vocabulary自动解压

Open a new terminal 2

gedit ~/.bashrc
在打开的文件的最后一行写入：
export ROS_PACKAGE_PATH=${
    
    ROS_PACKAGE_PATH}:/home/wenbo/ORB_SLAM2/Examples/ROS
上面这个一定要做，否则会出错说找不到路径和包

Go back to terminal 1 and
compile the ros node:

chmod +x build_ros.sh

Ensure that the original program can be compiled:

./build_ros.sh

Open a terminal 3 from the workspace with iai-kinect2 and run:

source devel/setup.sh
roslaunch kinect2_bridge kinect2_bridge.launch

Open another terminal 4 and enter:

rostopic list #查看此时Kinect2发布的topic

Then modify the content of ros subscription in ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc according to the topic 3 above

 message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/kinect2/qhd/image_color_rect", 1);  //改ros的发布  
 message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "/kinect2/qhd/image_depth_rect", 1);  //改ros的发布

Go back to Terminal 1
and recompile the project:

chmod +x build_ros.sh
./build_ros.sh

Open a terminal 5 and enter:

rqt_graph #查看话题是否接上

Similar to the figure below:
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Finally, open terminal 6 in ORB_SLAM2/Examples/Ros and enter

rosrun ORB_SLAM2 RGBD /home/wenbo/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/wenbo/ORB_SLAM2/Examples/RGB-D/kinect2_qhd.yaml

Note: Real-time online trajectory can be obtained (To solve the waiting for image, you need to recompile ROS/ORB_SLAM2 after modifying ros_rgbd.cc and publishing. Here, even if ros_rgbd.cc has been opened, but the content inside has not been modified, it is recommended to recompile again )

Problems that may be encountered during the above compilation process:

Problem 1: libboost_system.so and libboost_filesystem.so cannot find the link directory.
Solution:

locate  boost_system

Find the directory

/usr/lib/x86_64-linux-gnu/libboost_system.a
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0

Copy libboost_system.a, libboost_system.so to ORB_SLAM2/lib

Question 2: ORB_SLAM2 is executed when compiling. /build_ros.sh error:'usleep' was not declared in this scope.
Solution:
Add the header file #include< in ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc unistd.h>

Reference blog: kinect+Ros+ORBSLAM2

The final running result:
Insert picture description here