Difference: Rtabmap (8 vs. 9)

Revision 92019-04-08 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

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    1. Required packages:
      • sudo apt-get install ros-indigo-rtabmap-ros
      • sudo apt-get install ros-indigo-stereo-image-proc
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      • sudo apt-get install ros-indigo-image-pipeline
 
    1. Download launch file on the bottom.
    2. 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
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    1. 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
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    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
 
    1. 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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  1. There's more information at the following links:
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Permissions

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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"
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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META FILEATTACHMENT attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1"
 
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