Difference: Rtabmap (7 vs. 8)

Revision 82019-04-04 - 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
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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):
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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
    2. If run for the first time on the machine/laptop, change adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
      • please see the image at the bottom for the configuration
    3. 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

  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
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  1. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
  2. To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
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  1. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
 
  1. There's more information at the following links:
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 -- (c) Fordham University Robotics and Computer Vision

META FILEATTACHMENT attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
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META FILEATTACHMENT attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"
 
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