rtabmap with kinect 1(realsense d435i)
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1、安装 Kinect 驱动:
a. sudo apt-get install ros-kinetic-freenect-*
b. rospack profile
2、安装rtabmap_ros
sudo apt-get install ros-kinetic-rtabmap-ros
3、启动rtabmap
for kinect 1:
a. roslaunch freenect_launch freenect.launch depth_registration:=true
b. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"
for realsense d435i:
a. roslaunch realsense2_camera rs_camera.launch align_depth:=true unite_imu_method:="linear_interpolation"
b. rosrun imu_filter_madgwick imu_filter_node _use_mag:=false _publish_tf:=false _world_frame:="enu" /imu/data_raw:=/camera/imu /imu/data:=/rtabmap/imu
c. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false wait_imu_to_init:=true imu_topic:=/rtabmap/imu
note: 重置内存/删除缓存:rosservice call /rtabmap/reset
浏览缓存:rtabmap-databaseViewer ~/.ros/rtabmap.db
定位模式:
a. rosservice call /rtabmap/reset_odom
b. roslaunch rtabmap_ros rtabmap.launch localization:=true
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