ORB-SLAM2 for ROS Noetic, Ubuntu 20

ORBSLAM2 adapted for Ubuntu 20 and ROS Noetic if neccesary.

NOTE 1: THIS VERSION SAVE POINTS CLOUD MAP AFTER MONOCULAR ROS FINISH, AT PATH WHERE YOU RUN ROS NODE, "CloudMapROS.xyz" AND "KeyFrameTrajectory.txt" FILES. YOU CAN CHANGE THIS AT ORB_SLAM2_NOETIC/Examples/ROS/ORB_SLAM2/src/ros_mono.cc IN LINE 123.

NOTE 1.1: IF CHANGE POINTS CLOUD MAP PATH, YOU NEED TO REBUILD ROS PACKAGE .

Install modified Pangolin

I added Pangolin version compatible with Ubuntu 20 and ORB_SLAM2, so, we need to install it.

=== Required Dependencies ===

• C++11

• OpenGL (Desktop / ES / ES2)

• Glew

• (win) built automatically

• (deb) sudo apt-get install libglew-dev

• (mac) sudo port install glew

• CMake (for build environment)

• (win) http://www.cmake.org/cmake/resources/software.html

• (deb) sudo apt-get install cmake

• (mac) sudo port install cmake

=== Building ===

1. Enter Pangolin path

   • cd ORB_SLAM2_NOETIC/Pangolin

2. Build Pangolin

   • mkdir build
   • cd build
   • cmake ..
   • make -j

3. Test Pangolin

   • cd ORB_SLAM2_NOETIC/Pangolin/examples/HelloPangolin
   • mkdir build
   • cd build
   • cmake ..
   • make -j
   • ./HelloPangolin

Install ORB_SLAM2

I added ORB_SLAM2 version compatible with Ubuntu 20 and ORB_SLAM2, so, for install and use just follow official steps at: https://github.com/raulmur/ORB_SLAM2 (except clone official ORBSLAM2)

Test:

Here is a video testing it: