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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
      • sudo apt-get install ros-indigo-image-pipeline
    2. Camera MUST be calibrated
    3. Download launch file on the bottom.
    4. 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
    3. 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
    4. 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

  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
  3. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
  4. To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera
Screenshot_from_2019-04-08_112756.png Screenshot_from_2019-04-08_112631.png Screenshot_from_2019-04-08_112502.png

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-- (c) Fordham University Robotics and Computer Vision

Topic attachments
I Attachment History Action Size Date WhoSorted ascending Comment
Unknown file formatcfg Disparity.cfg r1 manage 2.5 K 2019-04-08 - 14:22 LabTech rqt disparity configuration
PNGpng Screenshot_from_2019-04-04_133312.png r1 manage 124.0 K 2019-04-04 - 17:34 LabTech Configuration for rqt_reconfigure
Unknown file formatlaunch disparity_to_dep.launch r1 manage 0.3 K 2019-03-12 - 14:29 LabTech Launch file
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Topic revision: r11 - 2019-04-09 - LabTech
 
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