# Mono-VSLAM

mono-vslam 示例可在机器人移动时实现机器人定位。它可以使用单目摄像头、IMU 和轮式里程计作为输入，连续生成里程计数据。里程计数据来自您的机器人。

图中显示了 mono-vslam 示例的 pipeline。Mono-vslam 示例融合了来自 RealSense RGB 摄像头的 RGB 图像、来自 ICM42688 的 IMU 数据以及来自机器人的里程计数据，然后输出姿态和里程计数据。mono-vslam 示例支持目标模式和无目标模式。

![../../_images/mono-vlsam-pipeline.png](data:image/png;base64,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)

**图：Mono-vslam pipeline**

有关 pipeline 流中使用的 ROS 节点和主题的信息，参见 [Mono-VSLAM 的 pipeline 流](https://docs.qualcomm.com/doc/80-70017-265Y/topic/mono-vslam_5_3_3.html#pipeline-monovslam)。

## 用例

**前提条件：**

- QIRP SDK 和依赖项已安装，请参阅[编译软件](https://docs.qualcomm.com/doc/80-70017-265Y/topic/build-the-software_4_1.html#build-the-software-4-1)和[刷写和安装](https://docs.qualcomm.com/doc/80-70017-265Y/topic/flash-and-install_4_3.html#flash-and-install-4-3)。
- 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70017-254/how_to.html#use-ssh)中提到的步骤在 “Permissive” 模式下启用 `SSH`。
- RealSense D455 摄像头已部署。

**用例1：运行开箱即用的 mono-VSLAM**

**步骤：**

该示例遵循以下节点序列。

realsense2-camera in RGB mode
    qti-robot-amr-ctrl
    mono-vslam
    qti-robot-keyboard
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1. 连接 RealSense D455 摄像头并启动机器人。
2. 启动五个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。

    `ROS_DOMAIN_ID` 的取值范围为：[0, 232]

ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) export HOME=/home
        (ssh) source /usr/share/qirp-setup.sh
        (ssh) source /usr/bin/ros_setup.bash
        (ssh) export ROS_DOMAIN_ID=xx
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Note

在接下来的步骤 3 到 7 中，每一步都在此步骤中部署的单独终端窗口中运行。
3. 在终端 1 中，以单声道模式启动 `realsense2_camera`。

(ssh) ros2 launch realsense2_camera rs_launch.py enable_depth:=false rgb_camera.profile:=848x480x30
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4. 在终端 2 中，启动 `qti_robot_amr_ctrl`。

(ssh) ros2 launch qti_robot_amr_ctrl qti_robot_amr_ctrl.launch.py
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Note

将此步骤替换为您的机器人启动命令。
5. 在终端 3 中，运行 `mono-vslam`。

(ssh) export FASTRTPS_DEFAULT_PROFILES_FILE=/usr/share/mono-vslam/Configuration/vslam-node_profile.xml
        (ssh) cd /usr/lib/mono-vslam/
        (ssh) chmod 777 mono-vslam
        (ssh) ./mono-vslam
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    终端中显示以下日志。

![../../_images/mono-vslam-log.png](data:image/png;base64,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)
6. 在终端 4 中，运行 `qti_robot_keyboard`。

(ssh) ros2 run qti_robot_keyboard qti_keyboard
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Note

将此步骤替换为您的键盘命令。
7. 在终端 5，可以通过运行此命令来观察输出结果。

(ssh) ros2 topic echo /robot_odom
        (ssh) ros2 topic echo /vslam_odom_raw
        Copy to clipboard
8. 要在 Ubuntu PC 上的 Rviz2 中显示结果，执行以下配置。

    1. 按照[安装 Rviz2](https://docs.qualcomm.com/doc/80-70017-265Y/topic/install-rviz2_5_1_3.html#install-rviz2-5-1-3) 安装 Rviz2。
    2. 选择框架 `/odom`。
    3. 按显示类型添加 `TF`，`Grid`。
    4. 按主题添加 `vslam/labeled_img`、`odom` 和 `robot_odom`。

![../../_images/mono-vslam-rviz2.png](data:image/png;base64,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)

表：Mono-vslam 的默认配置和输出文件

    | 文件 | 默认路径 | 说明 |
    | --- | --- | --- |
    | 配置文件 | /usr/share/mono-vslam/Configuration/monoSlam.cfg<br>        /usr/share/mono-vslam/Configuration/vslam.cfg<br>        Copy to clipboard | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">monoSlam.cfg</span></code> 文件配置了 mono-vslam 算法的参数，例如初始化模式。</p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">vslam.cfg</span></code> 文件配置了 mono-vslam 的硬件参数，例如摄像头参数。</p></li><br></ul> |
    | 输出文件 | /usr/share/mono-vslam/vwslam/fusion_output.csv<br>        Copy to clipboard | `.csv` 文件包含基本链接的姿态。 |

**用例 2：编译并运行 mono-VSLAM**

**步骤：**

1. 在主机上，编译 QIRP SDK 提供的 `mono-vslam`。

cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd qirp-samples/nodes/navigation/vslam/mono-vslam/
        export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
        export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `mono-vslam` 推送至设备。

Note

确保设备上已安装 QIRP SDK。

cd qirp-samples/nodes/navigation/vslam/mono-vslam/install/mono-vslam
        tar czvf mono_vslam.tar.gz lib share
        scp mono_vslam.tar.gz root@[ip-addr]:/opt/
        ssh root@[ip-addr]
        (ssh) mount -o remount rw, /usr
        (ssh) tar -zxf /opt/mono_vslam.tar.gz -C /usr/
        Copy to clipboard
3. 参考[案例 1：运行开箱即用的 mono-VSLAM](https://docs.qualcomm.com/doc/80-70017-265Y/topic/mono-vslam_5_3_3.html#id-hx-d50489e1)，在设备上运行 `mono-vslam`。

## Mono-VSLAM 的 pipeline 流

> 
> 
> 表：Mono-vslam pipeline 中使用的 ROS 节点
> 
> 
> | ROS 节点 | 说明 |
> | --- | --- |
> | qti-robot-amr-ctrl<br>    Copy to clipboard | 发布 `/cmd_vel` 和 `/odom` ROS 主题。 |
> | realsense2-camera<br>    Copy to clipboard | 发布 `/camera_info` 和 `/image_raw` ROS 主题。 |

表：Mono-vslam pipeline 中使用的 ROS 主题

| ROS 主题 | Type | 说明 |
| --- | --- | --- |
| robot_odom<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `mono-vslam` 节点发布。 |
| vslam_odom_raw<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `mono-vslam` 节点发布。 |
| vslam/labeled_img<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `mono-vslam` 节点发布。 |
| sensor_imu<br>    Copy to clipboard | <sensor_msgs::msg::Imu><br>    Copy to clipboard | 由 `mono-vslam` 节点发布。 |
| /camera/color/image_raw<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `mono-vslam` 节点订阅。 |
| /camera/color/camera_info<br>    Copy to clipboard | <sensor_msgs::msg::CameraInfo><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `mono-vslam` 节点订阅。 |
| odom<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由您的机器人启动节点发布，并由 `mono-vslam` 节点订阅。 |

Last Published: Jan 24, 2025

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