fail building ROS2 nodes for ORB_SLAM2

[zoldaten]

hi! cant build nodes for ROS2 Foxy to use with ORB_SLAM2. did you build them from scratch or use docker image from https://github.com/alsora/ros2-ORB_SLAM2/tree/f890df18983ead8cd2ae36676036d535ee52951b ?

[zoldaten]

ok. got it working - https://youtu.be/MaZRohrtnrQ built nodes from scratch using repo above and issues to it that means EXPORT...

[tentone]

Hello

Sorry for my late reponse, Glad that you were able to figure it out.

Could you please provided updated intructions that could be integrated into the project readme?

Thanks a lot!

[zoldaten]

i`ll try to sum up changes.

[zoldaten]

i did almost everything from your README and a bit more ) ros2: sudo apt update && sudo apt install curl gnupg2 lsb-release 12 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 13 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null 14 mkdir -p ~/ros2_galactic 15 cd ros2_galactic/ 16 wget https://github.com/ros2/ros2/releases/download/release-galactic-20221209/ros2-galactic-20221209-linux-focal-amd64.tar.bz2 17 ls 18 tar xf ros2-galactic-20221209-linux-focal-amd64.tar.bz2 19 mc 20 cd .. 21 sudo apt install ros-foxy-desktop python3-argcomplete 22 sudo rm /var/lib/apt/lists/lock 23 sudo rm /var/cache/apt/archives/lock 24 sudo rm /var/lib/dpkg/lock* 25 sudo dpkg --configure -a 26 sudo apt update 27 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null 28 sudo apt install ros-foxy-desktop python3-argcomplete 29 sudo apt install ros-foxy-ros-base python3-argcomplete 30 sudo apt install ros-dev-tools 31 source /opt/ros/foxy/setup.bash 32 ros2 run demo_nodes_cpp talker 33 echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc 34 printenv | grep -i ROS 35 sudo rm -r ros2_galactic/ 36 printenv | grep -i ROS 37 mkdir -p ~/ros2_ws/src 38 cd ~/ros2_ws 39 cd src/ 40 cd .. 41 git clone https://github.com/ros2/examples src/examples -b foxy 42 colcon build --symlink-install 43 colcon test 44 . install/setup.bash

tello: git clone https://github.com/tentone/tello-ros2.git put part of ROS to ros2_ws/src 59 cd ros2_ws/ 60 colcon build --symlink-install 61 . install/setup.bash 62 cd src/ 63 ls 64 ros2 launch launch.py 65 pip3 install av 66 sudo apt install python3-pip 67 pip3 install av 68 ros2 launch launch.py 69 pip3 install djitellopy

the hard part was about ORB_SLAM2 as i use opencv4.2 installed trought apt (not build from source). git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2 271 cd ORB_SLAM2/ 272 chmod +x build.sh 273 ./build.sh 275 sed -i 's/++11/++14/g' CMakeLists.txt 1. need to add: #include <unistd.h> #include <stdio.h> #include <stdlib.h> to nano /home/al/ORB_SLAM2/src/LoopClosing.cc nano /home/al/ORB_SLAM2/src/Viewer.cc nano /home/al/ORB_SLAM2/src/System.cc nano /home/al/ORB_SLAM2/src/Tracking.cc nano /home/al/ORB_SLAM2/src/System.cc nano /home/al/ORB_SLAM2/src/LocalMapping.cc nano /home/al/ORB_SLAM2/Examples/Monocular/mono_kitti.cc nano /home/al/ORB_SLAM2/Examples/Stereo/stereo_kitti.cc nano /home/al/ORB_SLAM2/Examples/Monocular/mono_tum.cc nano /home/al/ORB_SLAM2/Examples/RGB-D/rgbd_tum.cc nano /home/al/ORB_SLAM2/Examples/Monocular/mono_euroc.cc nano /home/al/ORB_SLAM2/Examples/Stereo/stereo_euroc.cc 2. nano include/LoopClosing.h from Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose; to Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;

3. changes concern opencv *https://github.com/raulmur/ORB_SLAM2/pull/790/commits/379c7633191b178b19a7c635b9df0fe370b05b6d

*https://github.com/ducha-aiki/pymagsac/issues/4?ysclid=lc343uv3gb984258163 sed -i 's/++11/++14/g' CMakeLists.txt and nano CMakeLists.txt

Then replace find_package(Eigen3 REQUIRED) to list(APPEND CMAKE_INCLUDE_PATH "/usr/local/include") find_package (Eigen3 3.3 REQUIRED NO_MODULE)

and find_package(OpenCV 4 QUIET)

put file path (ost.yaml) to nano /home/al/ros2_ws/build/tello/tello/node.py path: self.node.declare_parameter('camera_info_file', '') to self.node.declare_parameter('camera_info_file', '/home/al/ros2_ws/src/tello/resource/ost.yaml')

put the same parameters to ~/ORB_SLAM2/Examples/Monocular/TUM1.yaml

[tentone]

I will compile these instructions into a .md file and place them in the repo ;)

Thanks a lot!

[MizzouRobotics]

find_package (Eigen3 3.3 REQUIRED NO_MODULE)

This, but I had to build a custom Eigen 3.3.X from source, then change it to: find_package (Eigen3 3.3.X EXACT REQUIRED NO_MODULE)

I am having difficulty finding the module after the fact for my ros2 node build. I didn't know if either of you had any insight :)

[MizzouRobotics]

Actually, I copied from the original source, I copied over the FindORB_SLAM2.cmake from the forked repo and it works. You both are saints

[tentone]

Well im a bit late to help, thats great news 👍 thanks!