preparation：按照官網步驟完成ORB的安裝。
1、修改Camera calibration參數：到~/ORB_SLAM/Data/Settings.yaml修改
2、開啟終端機
->輸入roscore
3、將testimage製作成bag檔(需先裝好BagFromImages)
->將BagFromImages加入ROS_PACKAGE_PATH(EX:
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/ivlab/BagFromImages
)
->rosrun BagFromImages BagFromImages 要製作的images folder路徑 image格式 fps 輸出位置及檔名(EX:
rosrun BagFromImages BagFromImages images/room .png 30 images_out/room.bag
)
4、開新終端機
->將ORB_SLAM加入ROS_PACKAGE_PATH(EX:
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/ivlab/ORB_SLAM
)
->進到ORB_SLAM的位置
->(ubuntu12.02 with ROS Fuerte)輸入
roslaunch ExampleFuerte.launch
or(ubuntu14.04 with ROS Indigo)輸入
roslaunch ExampleGroovyOrNewer.launch
5、開新終端機
->輸入
rosbag play --pause (檔的路徑)/(檔名).bag
->按空白鍵執行