fail building ROS2 nodes for ORB_SLAM2

[zoldaten]

hi!
cant build nodes for ROS2 Foxy to use with ORB_SLAM2.
did you build them from scratch or use docker image from https://github.com/alsora/ros2-ORB_SLAM2/tree/f890df18983ead8cd2ae36676036d535ee52951b ?

[zoldaten]

ok. got it working - https://youtu.be/MaZRohrtnrQ
built nodes from scratch using repo above and issues to it that means EXPORT...

[tentone]

Hello

Sorry for my late reponse, Glad that you were able to figure it out.

Could you please provided updated intructions that could be integrated into the project readme?

Thanks a lot!

[zoldaten]

i`ll try to sum up changes.

[zoldaten]

i did almost everything from your README and a bit more )
ros2:
sudo apt update && sudo apt install curl gnupg2 lsb-release
12 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
13 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
14 mkdir -p ~/ros2_galactic
15 cd ros2_galactic/
16 wget https://github.com/ros2/ros2/releases/download/release-galactic-20221209/ros2-galactic-20221209-linux-focal-amd64.tar.bz2
17 ls
18 tar xf ros2-galactic-20221209-linux-focal-amd64.tar.bz2
19 mc
20 cd ..
21 sudo apt install ros-foxy-desktop python3-argcomplete
22 sudo rm /var/lib/apt/lists/lock
23 sudo rm /var/cache/apt/archives/lock
24 sudo rm /var/lib/dpkg/lock*
25 sudo dpkg --configure -a
26 sudo apt update
27 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
28 sudo apt install ros-foxy-desktop python3-argcomplete
29 sudo apt install ros-foxy-ros-base python3-argcomplete
30 sudo apt install ros-dev-tools
31 source /opt/ros/foxy/setup.bash
32 ros2 run demo_nodes_cpp talker
33 echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
34 printenv | grep -i ROS
35 sudo rm -r ros2_galactic/
36 printenv | grep -i ROS
37 mkdir -p ~/ros2_ws/src
38 cd ~/ros2_ws
39 cd src/
40 cd ..
41 git clone https://github.com/ros2/examples src/examples -b foxy
42 colcon build --symlink-install
43 colcon test
44 . install/setup.bash

tello:
git clone https://github.com/tentone/tello-ros2.git
put part of ROS to ros2_ws/src
59 cd ros2_ws/
60 colcon build --symlink-install
61 . install/setup.bash
62 cd src/
63 ls
64 ros2 launch launch.py
65 pip3 install av
66 sudo apt install python3-pip
67 pip3 install av
68 ros2 launch launch.py
69 pip3 install djitellopy

the hard part was about ORB_SLAM2 as i use opencv4.2 installed trought apt (not build from source).
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
271 cd ORB_SLAM2/
272 chmod +x build.sh
273 ./build.sh
275 sed -i 's/++11/++14/g' CMakeLists.txt
1.
need to add:
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
to
nano /home/al/ORB_SLAM2/src/LoopClosing.cc
nano /home/al/ORB_SLAM2/src/Viewer.cc
nano /home/al/ORB_SLAM2/src/System.cc
nano /home/al/ORB_SLAM2/src/Tracking.cc
nano /home/al/ORB_SLAM2/src/System.cc
nano /home/al/ORB_SLAM2/src/LocalMapping.cc
nano /home/al/ORB_SLAM2/Examples/Monocular/mono_kitti.cc
nano /home/al/ORB_SLAM2/Examples/Stereo/stereo_kitti.cc
nano /home/al/ORB_SLAM2/Examples/Monocular/mono_tum.cc
nano /home/al/ORB_SLAM2/Examples/RGB-D/rgbd_tum.cc
nano /home/al/ORB_SLAM2/Examples/Monocular/mono_euroc.cc
nano /home/al/ORB_SLAM2/Examples/Stereo/stereo_euroc.cc
2.
nano include/LoopClosing.h
from
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
to
Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;

3. changes concern opencv
   *raulmur/ORB_SLAM2@379c763

*ducha-aiki/pymagsac#4
sed -i 's/++11/++14/g' CMakeLists.txt
and
nano CMakeLists.txt

Then replace find_package(Eigen3 REQUIRED) to
list(APPEND CMAKE_INCLUDE_PATH "/usr/local/include")
find_package (Eigen3 3.3 REQUIRED NO_MODULE)

and
find_package(OpenCV 4 QUIET)

put file path (ost.yaml) to
nano /home/al/ros2_ws/build/tello/tello/node.py
path:
self.node.declare_parameter('camera_info_file', '')
to
self.node.declare_parameter('camera_info_file', '/home/al/ros2_ws/src/tello/resource/ost.yaml')

put the same parameters to
~/ORB_SLAM2/Examples/Monocular/TUM1.yaml

[tentone]

I will compile these instructions into a .md file and place them in the repo ;)

Thanks a lot!

[MizzouRobotics]

find_package (Eigen3 3.3 REQUIRED NO_MODULE)

This, but I had to build a custom Eigen 3.3.X from source, then change it to:
find_package (Eigen3 3.3.X EXACT REQUIRED NO_MODULE)

I am having difficulty finding the module after the fact for my ros2 node build. I didn't know if either of you had any insight :)

[MizzouRobotics]

Actually, I copied from the original source, I copied over the FindORB_SLAM2.cmake from the forked repo and it works. You both are saints

[tentone]

Well im a bit late to help, thats great news 👍 thanks!

[peakyquest]

I followed the same procedure for humble, failed to build ORB_SLAM2

[peakyquest]

Why do we build ORB_SLAM using the ./build.sh command first and then make changes to it? Why not make the necessary changes for the required versions beforehand and then run the build command?

[peakyquest]

Never mind, I build the ORB-SLAM2. There is one thing, which is still bothering me to build the orbslam2 ros2 package, that I am getting this error.

CMake Error at CMakeLists.txt:26 (find_package):
By not providing "FindORB_SLAM2.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"ORB_SLAM2", but CMake did not find one.

Could not find a package configuration file provided by "ORB_SLAM2" with
any of the following names:

ORB_SLAM2Config.cmake
orb_slam2-config.cmake

Add the installation prefix of "ORB_SLAM2" to CMAKE_PREFIX_PATH or set
"ORB_SLAM2_DIR" to a directory containing one of the above files. If
"ORB_SLAM2" provides a separate development package or SDK, be sure it has
been installed.

[peakyquest]

# Try to find ORB_SLAM2
# Set alternative paths to search for using ORB_SLAM2_DIR
# Once done this will define
# You should ensure your ORB_SLAM2 can run correctly
#
# To help the search ORB_SLAM2_ROOT_DIR environment variable as the path to ORB_SLAM2 root folder
#  e.g. `set( ORB_SLAM2_ROOT_DIR=~/ORB_SLAM2) `
set(ORB_SLAM2_ROOT_DIR "~/Documents/ORB_SLAM2")

# message(${ORB_SLAM2_ROOT_DIR})
# message(${ORB_SLAM2_ROOT_DIR}/include)
# message(${ORB_SLAM2_ROOT_DIR}/Thirdparty/DBoW2/DBoW2)

# Find ORB_SLAM2
find_path(ORB_SLAM2_INCLUDE_DIR NAMES System.h
          PATHS ${ORB_SLAM2_ROOT_DIR}/include)

find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 libORB_SLAM2
             PATHS ${ORB_SLAM2_ROOT_DIR}/lib)

# Find built-in DBoW2
find_path(DBoW2_INCLUDE_DIR NAMES Thirdparty/DBoW2/DBoW2/BowVector.h
          PATHS ${ORB_SLAM2_ROOT_DIR})

find_library(DBoW2_LIBRARY NAMES DBoW2
             PATHS ${ORB_SLAM2_ROOT_DIR}/Thirdparty/DBoW2/lib)

# Find built-in g2o
find_library(g2o_LIBRARY NAMES g2o
             PATHS ${ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib)



include(FindPackageHandleStandardArgs)
# handle the QUIETLY and REQUIRED arguments and set ORB_SLAM2_FOUND to TRUE
# if all listed variables are TRUE
find_package_handle_standard_args(ORB_SLAM2  DEFAULT_MSG
                                  ORB_SLAM2_LIBRARY ORB_SLAM2_INCLUDE_DIR DBoW2_INCLUDE_DIR DBoW2_LIBRARY g2o_LIBRARY)

mark_as_advanced(ORB_SLAM2_INCLUDE_DIR ORB_SLAM22_LIBRARY )

set(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARY} ${DBoW2_LIBRARY} ${g2o_LIBRARY})
set(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} ${DBoW2_INCLUDE_DIR})

I have written this. It finds the ORB_SLAM2Config.cmake.

I am getting a new error

/home/haroon/colcon_ws/src/dev_robotisim/orbslam2/src/monocular/mono.cpp:9:10: fatal error: ORB_SLAM2/System.h: No such file or directory
9 | #include "ORB_SLAM2/System.h"
| ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
/home/haroon/colcon_ws/src/dev_robotisim/orbslam2/src/monocular/monocular-slam-node.cpp:5:10: fatal error: ORB_SLAM2/MapPoint.h: No such file or directory
5 | #include "ORB_SLAM2/MapPoint.h"
| ^~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/mono.dir/build.make:90: CMakeFiles/mono.dir/src/monocular/monocular-slam-node.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/mono.dir/build.make:76: CMakeFiles/mono.dir/src/monocular/mono.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/mono.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< orbslam2 [0.61s, exited with code 2]

[peakyquest]

nevermind I find a way out. Thanks for the documentation.