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  • Realsense

    最方便

    sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
    

      

    git clone https://gitee.com/kay2020/realsense-ros.git 
    cd realsense-ros/ 
    git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1` 
    cd .. 
    catkin_init_workspace 
    cd .. 
    catkin_make clean 
    catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release 
    catkin_make install
    

      

    ROS下使用D435i跑rtabmap和octomap

    依赖

    sudo apt install ros-melodic-cv-bridge ros-melodic-image-transport ros-melodic-tf ros-melodic-diagnostic-updater ros-melodic-ddynamic-reconfigure
    

      

    sudo apt-get install ros-kinetic-octomap*
    

      

    sudo apt install ros-melodic-cartographer-rviz
    

      

    sudo apt-get install ros-melodic-imu-filter-madgwick  
    sudo apt-get install ros-melodic-rtabmap-ros  
    sudo apt-get install ros-melodic-robot-localization  
    

      

    启动

    roslaunch realsense2_camera opensource_tracking.launch
    

      

    ORB-SLAM2

    sudo apt-get install libglew-dev
    sudo apt-get install cmake
    sudo apt-get install libpython2.7-dev
    sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
    sudo apt-get install libdc1394-22-dev libraw1394-dev
    sudo apt-get install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
    

      

    安装Pangolin

    cd ~
    git clone https://gitee.com/kay2020/Pangolin.git
    cd Pangolin
    mkdir build
    cd build
    cmake ..
    make -j4
    

      

     

    cd ~
    git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
    

      

    cd ORB_SLAM2
    chmod +x build.sh
    ./build.sh
    

      

     wiki

    参考

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  • 原文地址:https://www.cnblogs.com/kay2018/p/15702547.html
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