How to generate rtabmap with a Realsense D435 or Xtion Pro Live?(如何使用Realsense D435或者Xtion Pro Live生成rtabmap?)
Ubuntu16.04,ROS kinetic
1.在ROS中安装rtabmap_ros包
sudo apt-get install ros-kinetic-rtabmap-ros
2. RGB-D相机实时建图
启动相机
realsense:
roslaunch realsense2_camera rs_camera.launch align_depth:=true
Xtion:
roslaunch openni2_launch openni2.launch depth_registration:=true
如没有安装Xtion驱动,参考Ubuntu 16.04 ROS-kinetic安装华硕Xtion Pro Live驱动
3. 建图模式——两种在线可视化方式:rtabmapviz或者rviz。
(1) Launch (rtabmapviz): rtabmap.launch
For RealSense D435:
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info
For freenect, openni and openni2:
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"
(2)Launch (rviz):
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false
参考文献:
- Source: git https://github.com/introlab/rtabmap_ros.git (branch: kinetic-devel)
- http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
- http://www.linuxdiyf.com/linux/32962.html
【推荐】编程新体验,更懂你的AI,立即体验豆包MarsCode编程助手
【推荐】凌霞软件回馈社区,博客园 & 1Panel & Halo 联合会员上线
【推荐】抖音旗下AI助手豆包,你的智能百科全书,全免费不限次数
【推荐】轻量又高性能的 SSH 工具 IShell:AI 加持,快人一步