Realsense ROS D435i rtabmap

 二进制安装ROS

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

源码安装ROS

git clone https://gitee.com/kay2020/realsense-ros.git 
cd realsense-ros/ 
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1` 
cd .. 
catkin_init_workspace 
cd .. 
catkin_make clean 
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release 
catkin_make install

ROS下使用D435i跑rtabmap和octomap

依赖

sudo apt install ros-melodic-cv-bridge ros-melodic-image-transport ros-melodic-tf ros-melodic-diagnostic-updater ros-melodic-ddynamic-reconfigure

　　

安装octomap-ros

sudo apt-get install ros-melodic-octomap*

　　

sudo apt install ros-melodic-cartographer-rviz

　　

安装以下三个包：imu_filter_madgwick、rtabmap_ros和robot_localization

sudo apt-get install ros-melodic-imu-filter-madgwick  
sudo apt-get install ros-melodic-rtabmap-ros  
sudo apt-get install ros-melodic-robot-localization  

 

启动运行

roslaunch realsense2_camera opensource_tracking.launch

 

ORB-SLAM2

sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libpython2.7-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev

　　

安装Pangolin(此处要装V0.5)

cd ~
git clone https://gitee.com/kay2020/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j4

　　

 

 

 

cd ~
git clone https://gitee.com/kay2020/ORB_SLAM2.git ORB_SLAM2

　　

cd ORB_SLAM2
chmod +x build.sh
./build.sh

　　

 wiki

参考