Based on orb_slam3_ros

Requierments

• Ubuntu 20.04
• PCL 1.8
• OpenCV 4.5.2 (With CUDA Build)
• Pangolin
• Boost
• CUDA 11.6
• Libtorch 1.12.1+cu116 (cxx11-abi) (Option)
• TensorRT
• ZED SDK (Option)
• Realsense SDK (Option)

Ref

https://blog.csdn.net/weixin_51925771/article/details/118405623

https://blog.csdn.net/hai_fellow_Z/article/details/123681382

Run

Camera and IMU Calibration

Follow that Link

Note

# ZED 2 run
roslaunch zed_wrapper zed2.launch
# Object SLAM run
roslaunch object_slam slam_rgbd_zed.launch

# D435i run
roslaunch object_slam realsense_d435i.launch
# Object SLAM run
roslaunch object_slam d435i_rgbd_slam.launch