MAC-VO ROS2 Wrapper

This repository is the ROS-2 wrapper for our work MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry. To visit our original codebase, see https://github.com/MAC-VO/MAC-VO.

Install and Configuration

To install as a ROS2 node, clone this directory in your ROS2 workspace and run

Note

Please clone the repository with --recursive flag to clone all the submodules automatically.

colcon build
source install/local_setup.bash

To launch the MAC-VO Node, use the following config, substitute [PATH_TO_CONFIG] with your own .yaml config path.

ros2 run MACVO_ROS2 MACVO --config [PATH_TO_CONFIG]

Pretrained Model

Please follow the README.md on https://github.com/MAC-VO/MAC-VO to download the pre-trained model. The default path for the pre-trained model is set to be MACVO_ROS2/src/Module