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How to Use RTabMap, ROS, and BB2 Driver

  1. Required packages:
    • sudo apt-get install ros-indigo-rtabmap-ros
    • sudo apt-get install ros-indigo-stereo-image-proc
  2. Download launch file on the bottom.
  3. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
  4. On the robot, run the stereo_camera node.
  5. On the server, in one terminal, run ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc
  6. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
  7. Run roslaunch rtabmap_ros disparity_to_dep.launch

  • To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"

  • To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"

  • To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

  • There's more information at the following links:

    http://wiki.ros.org/stereo_image_proc

    http://wiki.ros.org/rtabmap_ros

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-- (c) Fordham University Robotics and Computer Vision

Topic attachments
I Attachment History Action SizeSorted ascending Date Who Comment
Unknown file formatlaunch 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: r1 - 2019-03-12 - LabTech
 
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