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the launch file of rtabmap_ros https://drive.google.com/open?id=0B_NRULIECzfvdV9vRTZNUEktS3NVZ0RhT0I4X2dkY0Zua2RB
the launch file of realsense https://drive.google.com/open?id=0B_NRULIECzfvZHZwNUFTSGk0WWZad25lYWlCck93RzhxQmNv
command used:
roslaunch realsense realsense_r200_launch.launch dHeight:=240 dWidth:=320 dFPS:=30 cHeight:=240 cWidth:=320 cFPS:=30
roslaunch rtabmap_ros rgbd_mapping.launch rgb_topic:=/camera/color/image_raw depth_registered_topic:=/camera/depth/image_raw camera_info_topic:=/camera/color/camera_info frame_id:=base_link rtabmap_args:="--delete_db_on_start" estimation:=1
My rqt_graph: https://drive.google.com/file/d/0B_NRULIECzfvTDhWTEc0bDBsMEFjRUw2bXdFV2QxUkwtMzlz/view?usp=sharing Thank you very much !
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