ROS2 Wrapper for DSO SLAM Library

⚠️ NOT MAINTAINED: #2

Dependencies

• DSO SLAM library Change CMakeFile, path of the DSO Library.
• OpenCV

Installation

• Clone repository to your workspace source folder git clone https://github.com/goktug97/dso_ros2
• Run colcon build in workspace root.
• Source your workspace

Usage

You can change image topic that wrapper uses, Currently it subcribed to topic that camera publishes. See dso/src/. For example you can use simulation camera image topic to use DSO in your gazebo simulation.

I was just testing to see if I can make it work with ROS2 so the library is not polished. You need calibration folder with calibration.txt pcalib.txt vignette.png and you need to run the commands in the folder that contains calibration folder.

To run with camera use

ros2 launch dso_bringup dso_bringup.launch.py

To run standalone use

ros2 run dso dso_ros

You can also use my fork of DSO for save option