ORB-SLAM2 for Formula Student driverless

Install Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

Install Pangolin

Follow the instructions in the following link: https://github.com/stevenlovegrove/Pangolin

Install OpenCV

Install minimal prerequisites (Ubuntu 18.04 as reference)

sudo apt update && sudo apt install -y cmake g++ wget unzip

Download and unpack sources

wget -O opencv.zip https://github.com/opencv/opencv/archive/master.zip unzip opencv.zip

Create build directory

mkdir -p build && cd build

Configure

cmake ../opencv-master

Build

cmake --build .

Install

sudo make install

Install ORB-SLAM

git clone https://github.com/fsisel/ORB_SLAM2.git
cd ORB_SLAM2
chmod +x build.sh
./build.sh

Test the original ORB-SLAM 2 without ROS

Download datasets and calibration files

cd ~/formula_student_ws/src
mkdir -p datasets
cd datasets
git clone https://github.com/fsisel/calibration
mkdir -p visual_slam
cd visual_slam
wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip
unzip MH_01_easy.zip
rm -rf MH_01_easy.zip

Run ORB_SLAM2

cd ~/ORB_SLAM2

Run the following (one single command)

./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml ~/formula_student_ws/src/datasets/visual_slam/mav0/cam0/data ~/formula_student_ws/src/datasets/visual_slam/mav0/cam1/data Examples/Stereo/EuRoC_TimeStamps/MH01.txt

Test ORB-SLAM 2 with the race car

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ORB_SLAM2/Examples/ROS
chmod +x build_ros.sh
./build_ros.sh

Download race car ROS bag

download very_easy_track.bag from IFS Cloud -> Grupos Técnicos -> Grupo VII - Driverless -> Datasets
put the ROS bag in ~/formula_student_ws/src/datasets/visual_slam

Open 3 tabs on the terminal and run the following command at each tab:

Terminal 1

source /opt/ros/noetic/setup.bash
roscore

Terminal 2

source /opt/ros/noetic/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ORB_SLAM2/Examples/ROS
cd ~/ORB_SLAM2

Run the following (one single command)

rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt ~/formula_student_ws/src/datasets/calibration/camera_calibration.yaml false

Terminal 3

source /opt/ros/noetic/setup.bash

Run the following (one single command)

rosbag play --pause ~/formula/student_ws/src/datasets/visual_slam/very_easy_track.bag /fsds/camera/cam1:=/camera/left/image_raw /fsds/camera/cam2:=/camera/right/image_raw

When two windows pop-up you may press 'SPACE' on Terminal 3 to play the bag.