Difference: Rtabmap (11 vs. 12)

Revision 122019-04-29 - LabTech

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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
      • 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
    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
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