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ORB-SLAM3 ROS2 Wrapper Docker

This repository contains a dockerized comprehensive wrapper for ORB-SLAM3 on ROS 2 Humble for Ubuntu 22.04.

Demo GIF

ORBSLAM3-GIF

Steps to use this wrapper

1. Clone this repository

  1. git clone https://github.com/suchetanrs/ORB-SLAM3-ROS2-Docker
  2. cd ORB-SLAM3-ROS2-Docker
  3. git submodule update --init --recursive --remote

2. Install Docker on your system

cd ORB-SLAM3-ROS2-Docker
sudo chmod +x container_root/shell_scripts/docker_install.sh
./container_root/shell_scripts/docker_install.sh

3. Build the image with ORB_SLAM3

  1. Build the image: sudo docker build -t orb-slam3-humble:22.04 .
  2. Add xhost + to your .bashrc to support correct x11-forwarding using echo "xhost +" >> ~/.bashrc
  3. source ~/.bashrc
  4. You can see the built images on your machine by running sudo docker images.

4. Running the container

  1. cd ORB-SLAM3-ROS2-Docker (ignore if you are already in the folder)
  2. sudo docker compose run orb_slam3_22_humble
  3. This should take you inside the container. Once you are inside, run the command xeyes and a pair of eyes should pop-up. If they do, x11 forwarding has correctly been setup on your computer.

5. Building the ORB-SLAM3 Wrapper

Launch the container using steps in (4).

cd /root/colcon_ws/
colcon build --symlink-install
source install/setup.bash

Launching ORB-SLAM3

Launch the container using steps in (4). If you are inside the container, run the following:

  1. ros2 launch orb_slam3_ros2_wrapper unirobot.launch.py
  2. You can adjust the initial co-ordinates of the robot along with its namespace in the unirobot.launch.py file.

Important notes

ORB-SLAM3 is launched from orb_slam3_docker_20_humble/orb_slam3_ros2_wrapper/launch/rgbd.launch.py which inturn is launched from orb_slam3_docker_20_humble/orb_slam3_ros2_wrapper/launch/unirobot.launch.py

Currently the rgbd.launch.py launch file defaults to orb_slam3_ros2_wrapper/params/scout_v2_rgbd.yaml. You can modify this with your own parameter file in case you wish to use your own camera.

The very initial versions of this code were derived from thien94/orb_slam3_ros_wrapper and zang9/ORB_SLAM3_ROS2