Difference: Rtabmap (2 vs. 3)

Revision 32019-03-25 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

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  • 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
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  • 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
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  • 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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  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:

 

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