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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
    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
  • 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 _queue_size:=20
    3. 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"
  4. To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
  5. There's more information at the following links:


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

-- (c) Fordham University Robotics and Computer Vision

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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: r7 - 2019-03-29 - DamianLyons
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