orb_slam_2_ros

This package integrates ORB_SLAM2 packages with ROS. It also works for some forked versions such as VIOS.

Depends the respective catkin wrapper library:

ORB_SLAM2: https://github.com/ethz-asl/orb_slam_2_catkin

VIOS: https://github.com/russellaabuchanan/orb_slam_2_catkin

When building for VIOS make sure to set the USE_IMU tag, for example:

catkin build orb_slam_2_ros -DUSE_IMU=ON -DCMAKE_BUILD_TYPE=Release