From 269f1cec8a4ffcfd818908e1fcd8747e0bc5c0d0 Mon Sep 17 00:00:00 2001
From: robin_shaun <robin_shaun@foxmail.com>
Date: Thu, 24 Jun 2021 16:27:57 +0800
Subject: [PATCH] modify orbslam2

---
 .../ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc     | 7 +++----
 sensing/slam/vslam/ORB_SLAM2/xtdrone_run_stereo.sh         | 2 +-
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc b/sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
index 0482880..6f561da 100644
--- a/sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
+++ b/sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
@@ -117,12 +117,11 @@ int main(int argc, char **argv)
 
     ros::NodeHandle nh;
         
-    //ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/orbslamv2/vision_pose/pose", 100);    
-	ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/iris_0/mavros/vision_pose/pose", 100);
+    ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/orbslam2/vision_pose/pose", 100);    
 	igb.SetPub(&pose_pub);
 
-    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/iris_0/stereo_camera/left/image_raw", 1);
-    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/iris_0/stereo_camera/right/image_raw", 1);
+    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/left/image_raw", 1);
+    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/camera/right/image_raw", 1);
     typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
     message_filters::Synchronizer<sync_pol> sync(sync_pol(10), left_sub,right_sub);
     sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2));
diff --git a/sensing/slam/vslam/ORB_SLAM2/xtdrone_run_stereo.sh b/sensing/slam/vslam/ORB_SLAM2/xtdrone_run_stereo.sh
index 78f5415..5afb7e4 100644
--- a/sensing/slam/vslam/ORB_SLAM2/xtdrone_run_stereo.sh
+++ b/sensing/slam/vslam/ORB_SLAM2/xtdrone_run_stereo.sh
@@ -1 +1 @@
-rosrun ORB_SLAM2 Stereo ~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/catkin_ws/src/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml true
+rosrun ORB_SLAM2 Stereo ~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/catkin_ws/src/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml true /camera/left/image_raw:=/iris_0/stereo_camera/left/image_raw /camera/right/image_raw:=/iris_0/stereo_camera/right/image_raw /orbslam2/vision_pose/pose:=/iris_0/mavros/vision_pose/pose