Rtabmap < Main

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---++++ How to Use RTabMap, ROS, and BB2 Driver
   * Set up:
      1 Required packages:
         * *sudo apt-get install ros-indigo-rtabmap-ros*
         * *sudo apt-get install ros-indigo-stereo-image-proc*
      1 Download launch file on the bottom.
      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, [[BB2Driver][run the stereo_camera node]].
      1 On the server, in one terminal, run *ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc*
      1 On the server, in a new terminal, *cd /opt/ros/indigo/share/rtabmap_ros/launch*
      1 Run *roslaunch rtabmap_ros disparity_to_dep.launch*

   1 <p>To view the disparity map alongside the disparity image, use: *"rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect _queue_size:=20"* </p>
   1 <p>To view the depth_map use: *"rosrun image_view image_view image:=/depth_raw"* </p>
   1 <p>To adjust the parameters for the disparity map generation in real time use: *"rosrun rqt_reconfigure rqt_reconfigure"* </p>
   1 <p>There's more information at the following links:</p>
      * <p><a data-saferedirecturl="https://www.google.com/url?q=http://wiki.ros.org/stereo_image_proc&source=gmail&ust=1552486666447000&usg=AFQjCNFK-ZMqAEUvvyFzgZe9byY2GXLdjw" href="http://wiki.ros.org/stereo_image_proc" target="_blank">http://wiki.ros.org/stereo_image_proc</a></p>
      * <p><a data-saferedirecturl="https://www.google.com/url?q=http://wiki.ros.org/rtabmap_ros&source=gmail&ust=1552486666447000&usg=AFQjCNEy4W_Zx2vBzeA6gK27JXuiEkoTYw" href="http://wiki.ros.org/rtabmap_ros" target="_blank">http://wiki.ros.org/rtabmap_ros</a></p>
---++ Permissions

   * Persons/group who can view/change the page:

   * Set ALLOWTOPICVIEW = FRCVRoboticsGroup
   * Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

-- (c) Fordham University Robotics and Computer Vision

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who	Comment
launch	disparity_to_dep.launch	r1	manage	0.3 K	2019-03-12 - 14:29	LabTech	Launch file

This topic: Main > WebHome > FordhamRoboticsAndComputerVisionLaboratory > FRCVLabMaintenance > Rtabmap
Topic revision: r4 - 2019-03-25 - LabTech