|
META TOPICPARENT |
name="FRCVLabMaintenance" |
<meta name="robots" content="noindex" />
How to Use RTabMap, ROS, and BB2 Driver |
|
-
- Required packages:
- sudo apt-get install ros-indigo-rtabmap-ros
- sudo apt-get install ros-indigo-stereo-image-proc
|
|
> > |
-
-
- sudo apt-get install ros-indigo-image-pipeline
|
|
-
- 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
- Execution:
- On the robot, run the stereo_camera node.
- On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
|
|
< < |
-
- 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
|
> > |
-
- 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
|
|
-
- Optional (disparity to depth -- not tested yet):
- On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
- Run roslaunch rtabmap_ros disparity_to_dep.launch
|
|
- There's more information at the following links:
|
|
< < | |
|
Permissions |
|
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" |
|
|
> > |
META FILEATTACHMENT |
attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1" |
|