安装文档，可以参考
https://blog.csdn.net/u014374826/article/details/132013820
运行测试
双目+IMU
可以参考官方文档
Running ROS example: Download a rosbag (e.g. V1_02_medium.bag) from the EuRoC dataset (http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). Open 3 tabs on the terminal and run the following command at each tab for a Stereo-Inertial configuration:
roscore
rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/EuRoC.yaml true
rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu
双目
其实也是参考上面
roscore
rosrun ORB_SLAM3 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true
rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu
单目+IMU
roscore
rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/EuRoC.yaml true
rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu
单目
差不多同上
roscore
rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml
rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu
运行如下图
