Difference: Rtabmap (1 vs. 14)

Revision 142019-05-03 - LabTech

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How to Use Display Disparity on Pioneer3DX

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    1. In terminal, within the directory of the file, mv raw_decimate.launch /opt/ros/indigo/share/image_proc/launch && mv resize.launch /opt/ros/indigo/share/image_proc/launch
Changed:
<
<
    1. In the new terminal, roscd image_proc && roslaunch raw_decimate.launch
>
>
    1. In the new terminal, roscd image_proc && cd launch && roslaunch raw_decimate.launch
 
      • (worse image) for 10 FPS on the robot and 5 FPS on the server, set decimation_x and decimation_y to value="4" for both left_decimator and right_decimator
      • (better image) for 3.5 FPS on the robot and 2.6 FPS on the server, set decimation_x and decimation_y to value="2" for both left_decimator and right_decimator
    1. On the server/robot, in a new terminal, run ROS_NAMESPACE=camera_crop rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
Line: 28 to 28
 
  1. To view the disparity map alone, use "rosrun image_view disparity_view image:=/camera_crop/disparity"
  2. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
  3. To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera
Changed:
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Screenshot_from_2019-04-08_112756.png
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Screenshot_from_2019-04-08_112756.png
 
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Revision 132019-05-02 - LabTech

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Changed:
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How to Use RTabMap, ROS, and BB2 Driver

>
>

How to Use Display Disparity on Pioneer3DX

 
  • Set up:
    1. Required packages:
      • sudo apt-get install ros-indigo-rtabmap-ros
      • sudo apt-get install ros-indigo-stereo-image-proc
      • sudo apt-get install ros-indigo-image-pipeline
Deleted:
<
<
      • ros_imresize -- .zip is attached, please add to ~/catkin_ws/src and catkin_make
 
    1. Camera MUST be calibrated
Changed:
<
<
    1. Download launch file on the bottom.
>
>
    1. Download launch files on the bottom.
 
    1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
Added:
>
>
    1. In terminal, within the directory of the file, mv raw_decimate.launch /opt/ros/indigo/share/image_proc/launch && mv resize.launch /opt/ros/indigo/share/image_proc/launch
 
Changed:
<
<
    1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
    2. On the robot, in a new terminal, cd ~/catkin_ws/src/ros_imresize-master/launch, run roslaunch imresize.launch
      • Please change the parameters inside imresize.launch for desired results.
>
>
    1. In the new terminal, roscd image_proc && roslaunch raw_decimate.launch
      • (worse image) for 10 FPS on the robot and 5 FPS on the server, set decimation_x and decimation_y to value="4" for both left_decimator and right_decimator
      • (better image) for 3.5 FPS on the robot and 2.6 FPS on the server, set decimation_x and decimation_y to value="2" for both left_decimator and right_decimator
    2. On the server/robot, in a new terminal, run ROS_NAMESPACE=camera_crop rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
 
    1. If run for the first time on the machine/laptop, adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
      • OR add Disparity.cfg (see in bottom) to catkin_ws/src/image_pipeline/stereo_image_proc/cfg
      • ELSE please adjust according to the image of the parameters on the bottom
Line: 24 to 24
 
      1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
      2. Run roslaunch rtabmap_ros disparity_to_dep.launch
Changed:
<
<
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
>
>
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera_crop image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/camera_crop/disparity"
 
  1. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
  2. To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera
Screenshot_from_2019-04-08_112756.png
Line: 46 to 46
  -- (c) Fordham University Robotics and Computer Vision
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META FILEATTACHMENT attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
>
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META FILEATTACHMENT attachment="disparity_to_dep.launch" attr="" comment="disparity to depth launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
 
META FILEATTACHMENT attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"
META FILEATTACHMENT attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1"
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META FILEATTACHMENT attachment="ros_imresize-master.zip" attr="" comment=".zip for image reduction" date="1556556278" name="ros_imresize-master.zip" path="ros_imresize-master.zip" size="7291" user="LabTech" version="1"
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META FILEATTACHMENT attachment="ros_imresize-master.zip" attr="h" comment=".zip for image reduction" date="1556556278" name="ros_imresize-master.zip" path="ros_imresize-master.zip" size="7291" user="LabTech" version="1"
META FILEATTACHMENT attachment="raw_decimate.launch" attr="" comment="decimate launch file" date="1556818248" name="raw_decimate.launch" path="raw_decimate.launch" size="1517" user="LabTech" version="1"

Revision 122019-04-29 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

Line: 7 to 7
 
      • sudo apt-get install ros-indigo-rtabmap-ros
      • sudo apt-get install ros-indigo-stereo-image-proc
      • sudo apt-get install ros-indigo-image-pipeline
Added:
>
>
      • ros_imresize -- .zip is attached, please add to ~/catkin_ws/src and catkin_make
 
    1. Camera MUST be calibrated
    2. Download launch file on the bottom.
    3. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
  • Execution:
    1. On the robot, run the stereo_camera node.
    2. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
Added:
>
>
    1. On the robot, in a new terminal, cd ~/catkin_ws/src/ros_imresize-master/launch, run roslaunch imresize.launch
      • Please change the parameters inside imresize.launch for desired results.
 
    1. If run for the first time on the machine/laptop, adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
      • OR add Disparity.cfg (see in bottom) to catkin_ws/src/image_pipeline/stereo_image_proc/cfg
      • ELSE please adjust according to the image of the parameters on the bottom
Line: 48 to 52
 
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Added:
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META FILEATTACHMENT attachment="ros_imresize-master.zip" attr="" comment=".zip for image reduction" date="1556556278" name="ros_imresize-master.zip" path="ros_imresize-master.zip" size="7291" user="LabTech" version="1"

Revision 112019-04-09 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

Line: 7 to 7
 
      • sudo apt-get install ros-indigo-rtabmap-ros
      • sudo apt-get install ros-indigo-stereo-image-proc
      • sudo apt-get install ros-indigo-image-pipeline
Added:
>
>
    1. Camera MUST be calibrated
 
    1. Download launch file on the bottom.
    2. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
  • Execution:

Revision 102019-04-08 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

Line: 22 to 22
 
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
  3. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
Changed:
<
<
  1. There's more information at the following links:
>
>
  1. To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera
Screenshot_from_2019-04-08_112756.png Screenshot_from_2019-04-08_112631.png Screenshot_from_2019-04-08_112502.png

  • There's more information at the following links:
 
Line: 38 to 44
 
META FILEATTACHMENT attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
META FILEATTACHMENT attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"
META FILEATTACHMENT attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1"
Added:
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META FILEATTACHMENT attachment="Screenshot_from_2019-04-08_112756.png" attr="h" comment="" date="1554737629" name="Screenshot_from_2019-04-08_112756.png" path="Screenshot from 2019-04-08 11:27:56.png" size="1105067" user="LabTech" version="1"
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Revision 92019-04-08 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

Line: 6 to 6
 
    1. Required packages:
      • sudo apt-get install ros-indigo-rtabmap-ros
      • sudo apt-get install ros-indigo-stereo-image-proc
Added:
>
>
      • sudo apt-get install ros-indigo-image-pipeline
 
    1. Download launch file on the bottom.
    2. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
  • Execution:
    1. On the robot, run the stereo_camera node.
    2. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
Changed:
<
<
    1. If run for the first time on the machine/laptop, change adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
      • please see the image at the bottom for the configuration
>
>
    1. If run for the first time on the machine/laptop, adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
      • OR add Disparity.cfg (see in bottom) to catkin_ws/src/image_pipeline/stereo_image_proc/cfg
      • ELSE please adjust according to the image of the parameters on the bottom
 
    1. Optional (disparity to depth -- not tested yet):
      1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
      2. Run roslaunch rtabmap_ros disparity_to_dep.launch
Line: 23 to 25
 
  1. There's more information at the following links:
Deleted:
<
<

 

Permissions

Line: 36 to 37
 
META FILEATTACHMENT attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
META FILEATTACHMENT attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"
Added:
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META FILEATTACHMENT attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1"

Revision 82019-04-04 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

Line: 10 to 10
 
    1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
Changed:
<
<
    1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20
    2. Optional (disparity to depth -- not tested yet):
>
>
    1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
    2. If run for the first time on the machine/laptop, change adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
      • please see the image at the bottom for the configuration
    3. Optional (disparity to depth -- not tested yet):
 
      1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
      2. Run roslaunch rtabmap_ros disparity_to_dep.launch

  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
Changed:
<
<
  1. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
  2. To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
>
>
  1. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
 
  1. There's more information at the following links:
Added:
>
>

 

Permissions

  • Persons/group who can view/change the page:
Line: 32 to 35
 -- (c) Fordham University Robotics and Computer Vision

META FILEATTACHMENT attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
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META FILEATTACHMENT attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"

Revision 72019-03-29 - DamianLyons

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How to Use RTabMap, ROS, and BB2 Driver

Line: 26 to 26
 
  • Persons/group who can view/change the page:
Changed:
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>
 

-- (c) Fordham University Robotics and Computer Vision

Revision 62019-03-28 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

Line: 10 to 10
 
    1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
Changed:
<
<
    1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20
>
>
    1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20
    2. Optional (disparity to depth -- not tested yet):
 
    1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
    2. Run roslaunch rtabmap_ros disparity_to_dep.launch

Revision 52019-03-25 - LabTech

Line: 1 to 1
 
META TOPICPARENT name="FRCVLabMaintenance"
<meta name="robots" content="noindex" />

How to Use RTabMap, ROS, and BB2 Driver

Line: 10 to 10
 
    1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
Changed:
<
<
    1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc
>
>
    1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20
 
    1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
    2. Run roslaunch rtabmap_ros disparity_to_dep.launch
Changed:
<
<
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect _queue_size:=20"

  2. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"

  3. To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

  4. There's more information at the following links:

>
>
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
  3. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
  4. To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
  5. There's more information at the following links:
 

Permissions

  • Persons/group who can view/change the page:

Revision 42019-03-25 - LabTech

Line: 1 to 1
 
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How to Use RTabMap, ROS, and BB2 Driver

Line: 14 to 14
 
    1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
    2. Run roslaunch rtabmap_ros disparity_to_dep.launch
Changed:
<
<
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"

>
>
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect _queue_size:=20"

 
  1. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"

  2. To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

  3. There's more information at the following links:

Revision 32019-03-25 - LabTech

Line: 1 to 1
 
META TOPICPARENT name="FRCVLabMaintenance"
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How to Use RTabMap, ROS, and BB2 Driver

Added:
>
>
  • Set up:
 
  1. Required packages:
    • sudo apt-get install ros-indigo-rtabmap-ros
    • sudo apt-get install ros-indigo-stereo-image-proc
  2. Download launch file on the bottom.
  3. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
Added:
>
>
  • Execution:
 
  1. On the robot, run the stereo_camera node.
  2. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc
  3. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
  4. Run roslaunch rtabmap_ros disparity_to_dep.launch
Changed:
<
<
  • To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"

  • To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"

  • To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

  • There's more information at the following links:

    http://wiki.ros.org/stereo_image_proc

    http://wiki.ros.org/rtabmap_ros
>
>
  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"

  2. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"

  3. To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

  4. There's more information at the following links:

 

Permissions

  • Persons/group who can view/change the page:

Revision 22019-03-14 - LabTech

Line: 1 to 1
 
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How to Use RTabMap, ROS, and BB2 Driver

Line: 8 to 8
 
  1. Download launch file on the bottom.
  2. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
  3. On the robot, run the stereo_camera node.
Changed:
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  1. On the server, in one terminal, run ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc
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  1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc
 
  1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
  2. Run roslaunch rtabmap_ros disparity_to_dep.launch

Revision 12019-03-12 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

  1. Required packages:
    • sudo apt-get install ros-indigo-rtabmap-ros
    • sudo apt-get install ros-indigo-stereo-image-proc
  2. Download launch file on the bottom.
  3. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
  4. On the robot, run the stereo_camera node.
  5. On the server, in one terminal, run ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc
  6. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
  7. Run roslaunch rtabmap_ros disparity_to_dep.launch

  • To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"

  • To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"

  • To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

  • There's more information at the following links:

    http://wiki.ros.org/stereo_image_proc

    http://wiki.ros.org/rtabmap_ros

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-- (c) Fordham University Robotics and Computer Vision

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