orbslam2-ros运行

以下是在ROS环境下运行ORB_SLAM2的步骤：

1.安装依赖项和必要的软件包：

sudo apt-get install ros-<distro>-cv-bridge ros-<distro>-image-transport ros-<distro>-tf ros-<distro>-tf-conversions ros-<distro>-pcl-ros ros-<distro>-rgbd-launch libglew-dev libsuitesparse-dev liblapack-dev libblas-dev libeigen3-dev libv4l-dev libxkbcommon-dev libgtk-3-dev libglfw3-dev libavcodec-dev libavformat-dev libswscale-dev libavutil-dev libjpeg-dev libpng-dev libtiff-dev libopenexr-dev libwebp-dev libboost-dev libboost-filesystem-dev libboost-system-dev libprotobuf-dev protobuf-compiler libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev libtbb-dev

2.下载ORB_SLAM2源代码：

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

3.编译ORB_SLAM2：

cd ORB_SLAM2
chmod +x build.sh
./build.sh

4.下载ORB_SLAM2的ROS包：

cd ~/catkin_ws/src
git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git

5.编译ORB_SLAM2的ROS包：

cd ~/catkin_ws
catkin_make -j4

6.运行ORB_SLAM2的ROS节点：

roslaunch orb_slam2_ros orb_slam2.launch

注意：在运行ORB_SLAM2的ROS节点之前，需要将相机的参数配置文件放到ORB_SLAM2的Vocabulary文件夹中，并在ORB_SLAM2的launch文件中指定相机的参数配置文件路径。