5.5 Setup Localization Mode Visual SLAM

Step 5.5.1 Create a copy of the tracker file

sudo cp /opt/ros/humble/share/univloc_tracker/launch/tracker_mikrik.launch.py /opt/ros/humble/share/univloc_tracker/launch/tracker_mikrik_loc.launch.py

Step 5.5.2 Open tracker_mikrik_loc.launch.py file using sudo

sudo vi /opt/ros/humble/share/univloc_tracker/launch/tracker_mikrik_loc.launch.py

Step 5.5.3 In L21 replace string

configFilePath = '/home/<your-username-here>/mikrik_robotics_sdk/tracker_configs/mikrik_robot_tracker.yaml'

to the string that leads to the new config file

configFilePath = '/home/<your-username-here>/mikrik_robotics_sdk/tracker_configs/mikrik_robot_tracker_localization.yaml'

Step 5.5.4 Make script executable

cd ~/mikrik_robotics_sdk/scripts/
sudo chmod u+x realsense_collabslam_localization.sh