stella_vslam_ros

stella_vslam's ROS package.

Documentation

See here.

Install instruction

stella_vslam_ros uses submodules. Clone it with git clone --recursive or download submodules with git submodule update --init --recursive.

Subscribed topics

monocular setup

• camera/image_raw

stereo setup

• camera/left/image_raw
• camera/right/image_raw

RGBD setup

• camera/color/image_raw
• camera/depth/image_raw

Published topics

• ~/camera_pose

Parameters

• odom_frame
• map_frame
• robot_base_frame
• camera_frame
• publish_tf
• transform_tolerance
• use_exact_time (stereo, RGBD only)

Tutorial

Users unfamiliar with docker, ROS2, or stella_vslam should refer to the tutorial.

TIPS

• run_slam_offline node allows you to run SLAM by reading the rosbag2 file directly.