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README.md: Updated file to remove all $ before the code snippets #47

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28 changes: 14 additions & 14 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -17,15 +17,15 @@ This repository is ROS2 wrapping to use ORB_SLAM3

- Install related ROS2 package
```
$ sudo apt install ros-$ROS_DISTRO-vision-opencv && sudo apt install ros-$ROS_DISTRO-message-filters
sudo apt install ros-$ROS_DISTRO-vision-opencv && sudo apt install ros-$ROS_DISTRO-message-filters
```

## How to build
1. Clone repository to your ROS workspace
```
$ mkdir -p colcon_ws/src
$ cd ~/colcon_ws/src
$ git clone https://github.com/zang09/ORB_SLAM3_ROS2.git orbslam3_ros2
mkdir -p colcon_ws/src
cd ~/colcon_ws/src
git clone https://github.com/zang09/ORB_SLAM3_ROS2.git orbslam3_ros2
```

2. Change this [line](https://github.com/zang09/ORB_SLAM3_ROS2/blob/ee82428ed627922058b93fea1d647725c813584e/CMakeLists.txt#L5) to your own `python site-packages` path
Expand All @@ -34,16 +34,16 @@ $ git clone https://github.com/zang09/ORB_SLAM3_ROS2.git orbslam3_ros2

Now, you are ready to build!
```
$ cd ~/colcon_ws
$ colcon build --symlink-install --packages-select orbslam3
cd ~/colcon_ws
colcon build --symlink-install --packages-select orbslam3
```

## Troubleshootings
1. If you cannot find `sophus/se3.hpp`:
Go to your `ORB_SLAM3_ROOT_DIR` and install sophus library.
```
$ cd ~/{ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus/build
$ sudo make install
cd ~/{ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus/build
sudo make install
```

2. Please compile with `OpenCV 4.2.0` version.
Expand All @@ -52,27 +52,27 @@ Refer this [#issue](https://github.com/zang09/ORB_SLAM3_ROS2/issues/2#issuecomme
## How to use
1. Source the workspace
```
$ source ~/colcon_ws/install/local_setup.bash
source ~/colcon_ws/install/local_setup.bash
```

2. Run orbslam mode, which you want.
This repository only support `MONO, STEREO, RGBD, STEREO-INERTIAL` mode now.
You can find vocabulary file and config file in here. (e.g. `orbslam3_ros2/vocabulary/ORBvoc.txt`, `orbslam3_ros2/config/monocular/TUM1.yaml` for monocular SLAM).
- `MONO` mode
```
$ ros2 run orbslam3 mono PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
ros2 run orbslam3 mono PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
```
- `STEREO` mode
```
$ ros2 run orbslam3 stereo PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY
ros2 run orbslam3 stereo PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY
```
- `RGBD` mode
```
$ ros2 run orbslam3 rgbd PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
ros2 run orbslam3 rgbd PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE
```
- `STEREO-INERTIAL` mode
```
$ ros2 run orbslam3 stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]
ros2 run orbslam3 stereo-inertial PATH_TO_VOCABULARY PATH_TO_YAML_CONFIG_FILE BOOL_RECTIFY [BOOL_EQUALIZE]
```

## Run with rosbag
Expand All @@ -82,7 +82,7 @@ If you have `ros1 noetic` and `ros1 bridge` already, open your terminal and foll
(Shell A, B, C, D is all different terminal, e.g. `stereo-inertial` mode)
1. Download EuRoC Dataset (`V1_02_medium.bag`)
```
$ wget -P ~/Downloads http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag
wget -P ~/Downloads http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag
```

2. Launch Terminal
Expand Down