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.