REMODE+ORBSLAM运行配置（1） 把ORB编译成ROS工程

原版的ORBSLAM是一个cmake工程，由于项目的需要，我们要在其他ROS工程（简称A）和ORB工程进行通讯，即需要将这两个工程联编，这就有两个办法：

方法一：把A工程修改成一个cmake工程，然后和ORB联编，利用多线程完成通信。

方法二：把ORB修改成ROS工程，编程成一个节点，和A工程利用ros节点进行通信。

权衡了一下修改的复杂程度以及考虑到ROS的优点，选择了方案二。

下面开始记录修改步骤：

1：找一块地方，新建一个工程，简称ORB_ROS

1.1创建了如上的文件结构，并进入最内层src目录。所有的ros包都要放入到这里面进行编译。

baohua@baohua-ThinkPad-S5:~$ mkdir -p ORB_ROS/catkin_ws/src&&cd ORB_ROS/catkin_ws/src 

1.2创建出ORB_SLAM包

baohua@baohua-ThinkPad-S5:~/ORB_ROS/catkin_ws/src$ catkin_create_pkg ORB_SLAM

进入到ORB_SLAM包里，你会看到有两个文件：

一个是ROS版本的CMakeLists.txt，另一个是package.xml文件。这两个文件由catkin_create_pkg自动生产。但是，我们在执行catkin_creat_pkg ORB_SLAM时，里面什么都没有，所以我们要根据原来ORBSLAM工程的CMakeLists.txt修改包内的CMakeLists.txt，

另外，catkin_creat_pkg的指令格式其实是：catkin_creat_pkg <package name> [depend1]...[dependn] ,我们刚才创建ORB_SLAM时并没有添加任何ROS依赖depend，因为在生成package.xml后手动添加ROS依赖depend更方便。所以，我们还要根据新编译的工程将会对ROS的依赖修改package.xml文件。关于package.xml文件是什么，请参考ROSwiki。

2 将原来的ORB工程中除了其自身的CMakeLists后的其他文件拷贝进入第一步创建的ORB_SLAM包内。然后，修改包内的package.xml和CMakeLists.txt。

2.1 修改package.xml

  package.xml文件有分为几个部分：分别是工程名版本信息，作者维护者信息，license，以及编译依赖(build_depend)  和运行依赖(run_depend)。

我们只关心编译依赖(build_depend)  和运行依赖(run_depend)，其他信息对编译代码没有什么影响。

 <!-- Dependencies which this package needs to build itself. -->
  <buildtool_depend>catkin</buildtool_depend>

  <!-- Dependencies needed to compile this package. -->
  <build_depend>roscpp</build_depend>
  <build_depend>cmake_modules</build_depend> <!-- for FindEigen.cmake module -->
  <build_depend>nav_msgs</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>visualization_msgs</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>tf</build_depend>
  <build_depend>svo</build_depend>
  <build_depend>svo_msgs</build_depend>
  <build_depend>vikit_common</build_depend>
  <build_depend>vikit_ros</build_depend>
  
  <!-- Dependencies needed after this package is compiled. -->
  <run_depend>roscpp</run_depend>
  <run_depend>nav_msgs</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>visualization_msgs</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>image_transport</run_depend>
  <run_depend>cv_bridge</run_depend>
  <run_depend>tf</run_depend>
  <run_depend>svo</run_depend>
  <run_depend>svo_msgs</run_depend>
  <run_depend>vikit_common</run_depend>
  <run_depend>vikit_ros</run_depend>
  <!-- The export tag contains other, unspecified, tags -->

注：vikit_common和vikit_ros 需要从下载，这两个依赖的作用是从文件中读取参数。

git clone https://github.com/uzh-rpg/rpg_vikit.git  

下载后放到与ORB_SLAM包同目录下。

2.2 修改ROS包ORB_SLAM内的CMakeLists.txt

空的CMakeLists.txt是这样的：

cmake_minimum_required(VERSION 2.8.3)
project(ORB_SLAM)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES ORB_SLAM
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)

## Declare a C++ library
# add_library(ORB_SLAM
#   src/${PROJECT_NAME}/ORB_SLAM.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(ORB_SLAM ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
# add_executable(ORB_SLAM_node src/ORB_SLAM_node.cpp)

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(ORB_SLAM_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(ORB_SLAM_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ORB_SLAM ORB_SLAM_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ORB_SLAM.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

修改部分：catkin依赖部分和原cmake依赖部分

2.2.1  catkin依赖部分

#catkin工作空间的配置
FIND_PACKAGE(catkin REQUIRED COMPONENTS 
  roscpp
  cmake_modules
  nav_msgs
  std_msgs
  visualization_msgs
  sensor_msgs
  image_transport
  cv_bridge
  tf
 vikit_common
  vikit_ros
)

# Describe catkin Project
catkin_package(
  DEPENDS Eigen OpenCV Sophus Boost
  CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros
  INCLUDE_DIRS include
  LIBRARIES #svo_visualizer
)

 2.2.2 ORB_SLAMcmake依赖部分

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(Eigen REQUIRED)
FIND_PACKAGE(Sophus REQUIRED)
FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
FIND_PACKAGE(Pangolin REQUIRED)

#ORB的依赖头文件

INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS})#catkin工作空间的路径，这里是baohua@baohua-ThinkPad-S5:~/ORB_ROS/catkin_ws

INCLUDE_DIRECTORIES(
  include				    #include是此CMakeLists.txt同目录下的include文件夹路径
  ${PROJECT_SOURCE_DIR}         #${PROJECT_SOURCE_DIR} 是此CMakeLists.txt上层目录路径
  ${Eigen_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${Sophus_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

#ORB的源文件
LIST(APPEND SOURCEFILES
imu/eigen_utils.cpp
imu/IMU.cpp
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
MoveSense/Camera.cpp
MoveSense/CameraCtrl.cpp
MoveSense/CtrlInf.cpp
MoveSense/MoveSenseCamera.cpp
MoveSense/runCamera2.cpp
MoveSense/VL4IF.cpp
)

注：我们对源文件修改过，你可以根据自己的文件结构添加

#ORB的依赖库文件
LIST(APPEND LINK_LIBS ${catkin_LIBRARIES})
LIST(APPEND LINK_LIBS 
  ${OpenCV_LIBS}
  ${Sophus_LIBRARIES}
  ${Boost_LIBRARIES}
  ${Pangolin_LIBRARIES}
  ${catkin_LIBRARIES}
  
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/Thirdparty/Sophus/build/libSophus.so
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
/usr/lib/x86_64-linux-gnu/libusb-1.0.so
/usr/lib/x86_64-linux-gnu/libudev.so
/usr/lib/x86_64-linux-gnu/libusb.so
/usr/lib/x86_64-linux-gnu/libv4l1.so
)

将除主函数的其他文件生成一个库

# Create ORB library
ADD_LIBRARY(ORB SHARED ${SOURCEFILES})
TARGET_LINK_LIBRARIES(ORB ${LINK_LIBS})

生成可执行文件

## Declare a C++ executable
ADD_EXECUTABLE(EuRoC Examples/RGB-D/EuRoC.cc)
TARGET_LINK_LIBRARIES(EuRoC ORB)

经过第2部分的步骤，我们修改完成了工程的依赖。

3 编译ROS工程ORB_SLAM

首先进入catkin_ws目录

baohua@baohua-ThinkPad-S5:~$ cd '/home/baohua/ORB_ROS/catkin_ws' 

找到main函数

加入头文件：

#include<vikit/file_reader.h>
#include<vikit/params_helper.h>
#include<vikit/camera_loader.h>
#include<ros/ros.h>
#include<ros/package.h>

在main里开启节点 节点名字随意定义

  ros::init(argc,argv,"ORB_SLAM");//一定要开启ros节点，vk::getParam才能找到launch文件的参数
  ros::NodeHandle n;

读launch文件的参数(launch文件后面会说到)

    const string CamPara_Path(vk::getParam<std::string>("ORB_SLAM/CamPara_Path"));
    const string BOW_Path(vk::getParam<std::string>("ORB_SLAM/BOW_Path"));
    string dataset_path(vk::getParam<std::string>("ORB_SLAM/Img_Path"));//imu数据路径

然后编译代码

baohua@baohua-ThinkPad-S5:~/ORB_ROS/catkin_ws$ catkin_make

编译成功后，在catkin_ws目录下，你会看到新生成的build和devel文件，这是catkin_make生成的。其中可执行文件在

～/ORB_ROS/catkin_ws/devel/lib/ORB_SLAM目录下。

4运行代码

4.1 设置环境变量

source '/home/baohua/ORB_ROS/catkin_ws/devel/setup.sh'

4.2 运行可执行程序 EuRoC

ORB代码是带参运行的，为的是在修改一些参数时可以不用重新编译代码就可以运行。因为带参，所以我们选择roslaunch方法运行可执行文件。关于roslaunch，参见另一篇博客http://blog.csdn.net/zhubaohua_bupt/article/details/53858388。

在ORB_SLAM包里新建launch文件，这里直接把文件内容粘上

<launch>
<node pkg="ORB_SLAM" type="EuRoC" name="ORB_SLAM">
	 <!-- CamPara_Path -->
   		 <param name="CamPara_Path" value="/home/baohua/project/SLAM/REMODE_ORB/catkin_ws/src/ORB_SLAM/Camera_configs/EuRoC_MH01.yaml" type="str" />
 	<!-- BOW_Path -->
   		 <param name="BOW_Path" value="/home/baohua/project/SLAM/REMODE_ORB/catkin_ws/src/ORB_SLAM/Vocabulary/ORBvoc.bin" type="str" />
	<!-- Img_Path -->
   		 <param name="Img_Path" value="/media/baohua/media/SLAM_DATA/mav0_MH01" type="str" />
</node>
</launch>

最后一步：

运行launch文件：

baohua@baohua-ThinkPad-S5:~/ORB_ROS/catkin_ws$ roslaunch ORB_SLAM EuRoC.launch