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Binaries:

sudo apt-get install ros-indigo-rtabmap ros-indigo-rtabmap-ros

If you want to build the latest version from source, visit the rtabmap_ros's GitHub page (see installation instructions at the bottom of the page).

For an example of hand-held mapping with a Kinect, checkout this tutorial.

cheers

Binaries:

sudo apt-get install ros-indigo-rtabmap ros-indigo-rtabmap-ros

If you want to build the latest version from source, visit the rtabmap_ros's GitHub page (see installation instructions at the bottom of the page).

For an example of hand-held mapping with a Kinect, checkout this tutorial.

EDIT (from questions in comments)

You can export the cloud in PLY, PCD or OBJ (See File->"Export clouds" in main window). These formats can be loaded in MeshLab, where you can export them in X3D or WRL.

If you don't use "--delete_db_on_start" when launching the launch file, the rtabmap.db file contains all sessions. If there are no loop closures between the sessions, you will only see the latest one when starting a new session. If you want one session per database, you have to manually copy ~/.ros/rtabmap.db between the sessions. Note that for hand-held mapping with RTAB-Map, you don't even need ROS, and the standalone version is easier to use to create/save multiple databases (just type $ rtabmap to use the standalone).

To view all sessions contained in a database, you can open it with $ rtabmap-databaseViewer ~/.ros/rtabmap.db. Then show the Graph view panel and set from which node the graph is optimized. Depending on which node the map is optimized, a different scanning session may appear. You can then generate the point cloud associated with the current graph (File->export).

cheers