This project can perform 3D reconstruction either on dataset or on gazebo.

It now does not perform the scene reconstruction of the fusion of LIDAR and RGBD camera, but instead runs independently either on LIDAR or RGBD camera.

First build the packages inside the repo independently. Build voxblox_ros .

Build the remaining packages just simply use catkin build

catkin build orb_slam2_ros image_pipeline aloam_velodyne

Run with RGBD on dataset (tested on TUM )

Before running the dataset, double check the path of the dataset in your PC in dataset_tum1.launch. Then use

roslaunch orb_slam2_ros dataset_tum1.launch

to launch your dataset.

Run with RGBD on gazebo (tested with Intel RealSense D435)

Also, check the topic published by gazebo in sim_d435.launch, then use

roslaunch orb_slam2_ros sim_d435.launch

Run with LIDAR on dataset (tested on Velodyne_VLP_16 dataset

Modify the path and published topic and run

roslaunch aloam_velodyne dataset_city.launch

The same with simulating velodyne_VLP_16 on gazebo, launch

roslaunch aloam_velodyne sim_velodyne_16.launch

If you want more details of the scence, modify voxel_size to better fit with 3D scene.