openvslam_ros

OpenVSLAM's ROS package.

Subscribed topics

monocular setup

• camera/image_raw

stereo setup

• camera/left/image_raw
• camera/right/image_raw

RGBD setup

• camera/color/image_raw
• camera/depth/image_raw

Published topics

• ~/camera_pose

Parameters

• odom_frame
• map_frame
• base_link
• camera_frame
• publish_tf
• transform_tolerance
• use_exact_time (stereo, RGBD only)

Tutorial

Users unfamiliar with docker, ROS2, or OpenVSLAM should refer to the tutorial.