ORB SLAM2 on ROS2
This video is about running ORB SLAM2 on ROS2 using D435 rgbd camera.
Visual SLAM drifted a lot after a few corners however it eventually close the loop once it return to the origin point.
For this experiment I used ROS-Foxy on ubuntu 20.04
Laptop with 12th i9 CPU + 16GB of memory + RTX3070Ti GPU
Modified ORB SLAM2 for build installation
https://github.com/kyuhyong/ORB_SLAM2...
ros2 wrapper for ORB SLAM2
https://github.com/alsora/ros2-ORB_SLAM2
For details, please check below page I made. (In Korean language though)
https://www.notion.so/ORB-SLAM2-09ad4...