Difference: Rtabmap (5 vs. 6)

Revision 62019-03-28 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

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1. 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.

Changed:

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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

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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

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