How to run it without ROS

[bigtongclimb]

Hi, I have a question ,that is how to run it without ROS just like ORB_SLAM2 ? Because in readme.md, it seems like there is no information about how to use dataset to run it after compile.Thank you.

[zzx9636]

Thanks for your interest in our project.

I could be wrong since it has been couple of years. As I remembered, ROS is only used to subscribe RGB-D images and publish planned trajectories and system status (check out the main function here). Just like the ORB-SLAM2, the rest of the system does not depend on ROS, and you can certainly change the IO that fits your robots.

I am not very sure how to run it with the dataset, since the idea of this project is to plan a path that is less likely to see a SLAM tracking loss. If sensor observations are acquired passively (no active control of where the sensor should make observations), you will see the results just like running vanilla ORB-SLAM2

[bigtongclimb]

Thanks for your interest in our project.

I could be wrong since it has been couple of years. As I remembered, ROS is only used to subscribe RGB-D images and publish planned trajectories and system status (check out the main function here). Just like the ORB-SLAM2, the rest of the system does not depend on ROS, and you can certainly change the IO that fits your robots.

I am not very sure how to run it with the dataset, since the idea of this project is to plan a path that is less likely to see a SLAM tracking loss. If sensor observations are acquired passively (no active control of where the sensor should make observations), you will see the results just like running vanilla ORB-SLAM2

Ok , I got it , thank you!

[jianzhuozhu]

I have run your code with astra camera,but my "copied planned trajectory size" is always 0.Why is that?Can someone help me?