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How to use ORB_SLAM with ROS Navigation Stack?

I am currently working on a mobile robot project, in which I want to implement ROS Navigation to be able to set goal pose and avoid obstacles. The main problem is, that I don't have a Kinect or a laser sensor, so I'm not able to send any PointCloud or LaserScan messages. I also have MPU 6050, so I can get some odometry data. For now I can't even save a map, that is created by ORBSLAM in any way. I tried to relay ORBSLAM/Map topic to /map to use it for saving via mapserver mapsaver, but mapserver couldn't find it. Is there any way to use ORBSLAM instead of PointCloud/LaserScan? If it's not possible, how can I use it for navigation and sending goals?

Asked by dustedduke on 2017-04-15 10:42:38 UTC

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Were you able to use ORB SLAM with ROS Navigation stack?

Asked by Kanishk598 on 2021-09-24 08:54:00 UTC

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