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How to Use RTabMap, ROS, and BB2 Driver
- Set up:
- 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
- Camera MUST be calibrated
- 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, 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
- To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
- To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
- To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
- To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera
- There's more information at the following links:
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Topic revision: r11 - 2019-04-09 - LabTech