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How to Use RTabMap, ROS, and BB2 Driver |
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- Required packages:
- sudo apt-get install ros-indigo-rtabmap-ros
- sudo apt-get install ros-indigo-stereo-image-proc
- 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
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- On the robot, run the stereo_camera node.
- On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc
- On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
- 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"
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To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
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To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
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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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To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"
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To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
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To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
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There's more information at the following links:
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