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How to Use RTabMap, ROS, and BB2 Driver |
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- 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
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- ros_imresize -- .zip is attached, please add to ~/catkin_ws/src and catkin_make
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- Camera MUST be calibrated
- Download launch file on the bottom.
- In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
- Execution:
- On the robot, run the stereo_camera node.
- On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
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- 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.
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- 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
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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" |
META FILEATTACHMENT |
attachment="Screenshot_from_2019-04-08_112631.png" attr="h" comment="" date="1554737726" name="Screenshot_from_2019-04-08_112631.png" path="Screenshot from 2019-04-08 11:26:31.png" size="229627" user="LabTech" version="1" |
META FILEATTACHMENT |
attachment="Screenshot_from_2019-04-08_112502.png" attr="h" comment="" date="1554737934" name="Screenshot_from_2019-04-08_112502.png" path="Screenshot from 2019-04-08 11:25:02.png" size="319118" 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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