Page Comparison

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git clone https://github.com/lp-research/lpslam_interfaces 
cd lpslam_interfaces 
colcon build --symlink-install 
source ./install/setup.bash

Conan

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Build Instructions

(Recommended)

The instructions below build the OpenVSLAM-ROS wrapper and install the remaining dependencies automatically in the workspace with conan package manager

OpenVSLAM-ROS

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Wrapper

Make sure to source ROS2 & lpslam_interfaces beforehand.

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• Problems loading some libraries when running the node. error while loading shared libraries: ... .so : cannot open shared object file: No such file or directory
  Can be solved by appending the LD_LIBRARY_PATH with the path to the new libraries as follows: LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$INSTALL_ROOT/lib or using ldconfig.

Manual

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Build Instructions

Dependencies

Below are the instructions to build the dependencies one by one from source and install them in a custom ${INSTALL_ROOT}.
If no custom root is provided, the dependencies will be installed system wide (default to /usr/local ), use sudo make install to install them in this case.

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git clone https://github.com/lp-research/openvslam.git
cd openvslam
git checkout feature/lpr-mods
mkdir build && cd build
cmake \
-DBUILD_WITH_MARCH_NATIVE=OFF \
-DUSE_PANGOLIN_VIEWER=ON \
-DUSE_SOCKET_PUBLISHER=OFF \
-DUSE_STACK_TRACE_LOGGER=ON \
-DBOW_FRAMEWORK=DBoW2 \
-DBUILD_EXAMPLES=ON \
-DBUILD_TESTS=ON \
-DINSTALL_PANGOLIN_VIEWER=ON \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=${INSTALL_ROOT} \
..
make
make install

OpenVSLAM-ROS

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Wrapper

Make sure to source ROS2 & lpslam_interfaces beforehand

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git clone https://github.com/lp-research/lpslam_node.git
git submodule update --init --recursive
colcon build --symlink-install \
--cmake-args -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF \
-DBUILD_WITH_MARCH_NATIVE=OFF -DCMAKE_LIBRARY_PATH=${INSTALL_ROOT}/lib \
-DLPSLAM_BUILD_OPENVSLAM=OFF -DLPSLAM_BUILD_OPENVSLAM_PANGOLIN=OFF

Testing

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Your Setup

Testing

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LPSLAM on

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Simulation

One quick way to test lpslam LPSLAM is run it on simulation. We created a Turtlebot3 Waffle simulation with Stereo Camera just for that! We also provide the needed launch and configuration files for lpslam integration.

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source /usr/share/gazebo/setup.bash
export TURTLEBOT3_MODEL=waffle_stereo
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

• Source the lpslam and lpslam_interfaces packages then run the lpslam node with the proper configuration.
  For the configuration files, make sure to change the path for configFromFile and vocabFile here.

source  path_to_lpslam_ws/lpslam_interfaces/install/setup.bash
source  path_to_lpslam_ws/lpslam_node/install/setup.bash
ros2 launch turtlebot3_lpslam lpslam_gazebo.launch.py

• Finally, run teleoperation node to move the robot around

ros2 run teleop_twist_keyboard teleop_twist_keyboard 
# Or
ros2 run turtlebot3_teleop teleop_keyboard

Note: We provide a vocab file (orb_vocab.dbow2) temporarily to make things fast but it can be easily generated. Refer to the following discussion.

Testing

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LPSLAM on

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Your Robot

Coming soon..