orb_slam_2_ros
Fast_RRT-ROS
orb_slam_2_ros | Fast_RRT-ROS | |
---|---|---|
1 | 1 | |
587 | 4 | |
2.7% | - | |
0.0 | 3.5 | |
9 months ago | over 3 years ago | |
C++ | C++ | |
GNU General Public License v3.0 or later | MIT License |
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orb_slam_2_ros
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Odometry is changing at a faster rate with intelrealsense d435 while using orb_slam2_ros
I have compiled [this repository](https://github.com/appliedAI-Initiative/orb_slam_2_ros) on nvidia jetson nano and it has been successfully built inside my catkin workspace. I have double checked the rosnode list and topics subscribed and published by nodes and they are all good. When I launched the file `roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch` and try to see the `/orb_slam2_rgbd/pose` topic, the pose looks quite unstable and changing at a faster rate (you can see inside the video attached) while the robot is static. I have attached the tf tree in this issue [frames.pdf](https://github.com/appliedAI-Initiative/orb_slam_2_ros/files/8130863/frames.pdf) and a video link [here](https://drive.google.com/file/d/1nU13ZrD_oXfTAPqC75yUB4uY-FzfR1dC/view?usp=sharing).
Fast_RRT-ROS
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Fast RRT simulation in the rviz (link to the code in comments )
Link: https://github.com/addy1997/Fast_RRT-ROS
What are some alternatives?
SuperPoint_SLAM - SuperPoint + ORB_SLAM2
Dstar-lite-pathplanner - Implementation of the D* lite algorithm in Python for "Improved Fast Replanning for Robot Navigation in Unknown Terrain"
Universal_Robots_ROS_Driver - Universal Robots ROS driver supporting CB3 and e-Series
Fast-Planner - A Robust and Efficient Trajectory Planner for Quadrotors
Nox_robot - Nox robot project
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
ov2slam - OVĀ²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
stella_vslam - This is a unofficial fork of OpenVSLAM (https://github.com/xdspacelab/openvslam)
symforce - Fast symbolic computation, code generation, and nonlinear optimization for robotics
sloam - Semantic LIDAR odometry and mapping for cylinderical objects (e.g. trees in forests)
realsense-ros - ROS Wrapper for Intel(R) RealSense(TM) Cameras