Open REALM ROS1 Bridge

This is the repository for the OpenREALM ROS1 bridge. For informations and updates on the main library, please refer to:

https://github.com/laxnpander/OpenREALM.git

Prerequisites

OS	ROS Distribution	Build Status
Ubuntu 16.04	ROS Kinetic
Ubuntu 18.04	ROS Melodic

For ROS installation please refer to: http://wiki.ros.org/

Other dependencies are installed using the install_deps.sh script:

chmod u+x install_deps.sh
./install_deps.sh

Do not proceed to the next step before you executed this script.

Optional Dependencies

CUDA for stereo reconstruction with plane sweep lib

-> Refer to https://developer.nvidia.com/cuda-downloads?target_os=Linux

Please note, that installing CUDA can sometimes be troublesome. If you are facing an error like

*fatal error: cuda_runtime.h: No such file or directory*

often times adding the CUDA directory to the .bashrc does the trick. If you use CUDA 9.0 for example, you should

echo 'export CPATH=/usr/local/cuda-9.0/include:$CPATH' >> ~/.bashrc 

Installation

In the following I assume you already called the install_deps.sh and therefore have all dependencies.

Linux (both Ubuntu 16.04 and 18.04)

# Create and init a catkin workspace
mkdir -p catkin_ws/src
cd catkin/src

# Make sure you are in your catkin_ws, not src
catkin_make -DCMAKE_BUILD_TYPE=Release

Quick Start

Step 1: Download the test dataset:

https://drive.google.com/open?id=1-2h0tasI4wzxZKLBbOz3XbJ7f5xlxlMe

Step 2: Unzip the dataset with a tool of your choice, e.g.

tar -xvzf open_realm_edm_dataset.tar.gz

Step 3: We provided as well a set of configuration files in realm_ros/profiles as the corresponding launch files in realm_ros/launch to run the test dataset. The only thing you have to do is modify the path in the launch file:

node pkg="realm_ros" type="realm_exiv2_grabber" name="realm_exiv2_grabber" output="screen"
    param name="config/id" type="string" value="$(arg camera_id)"/>
    param name="config/input" type="string" value="PUT THE TEST DATASET'S ABSOLUTE PATH HERE"/>
    param name="config/rate" type="double" value="10.0"/>
    param name="config/profile" type="string" value="alexa"/>
/node

Note: The exiv2 grabber node reads images and exiv2 tags from the provided folder and publishes them for the mapping pipeline.

Step 4: Launch the pipeline you want to use.

• GNSS only mapping:

roslaunch realm_ros alexa_gnss.launch

• 2D mapping with visual SLAM:

roslaunch realm_ros alexa_noreco.launch

• 2.5D mapping with visual SLAM and surface reconstruction:

roslaunch realm_ros alexa_reco.launch