ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Building a 3D and 2D map with RealSense and RTABMAP

asked 2016-07-26 02:47:13 -0500

dumbled0ge gravatar image

updated 2016-07-26 05:05:30 -0500

Hi to all,

I am very new to Ros platform. I'm trying to build a 3d and 2d map with RealSense r200. As far as i know the rtabmap doesn't have a standalone driver for RealSense r200. I tried several things but couldn't managed to make it work.

Could you please explain the steps and provide the commands that can help me to reach my goal?(also maybe launch files)

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-07-26 08:26:46 -0500

matlabbe gravatar image

Try this:

$ roslaunch realsense_camera r200_nodelet_rgbd.launch
$ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw
edit flag offensive delete link more


When I tried this commands, I get an error like this:

[camera/camera_nodelet_manager - 2] process has died [pid 22596, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=camera_nodelet_manager


dumbled0ge gravatar image dumbled0ge  ( 2016-08-01 01:52:50 -0500 )edit

I've managed to run it with these command set btw:

  • roslaunch realsense realsense_r200_launch.launch
  • rosrun resize_image resize_image -i /camera/depth/image_raw -o /camera/depth/image_resized --aw 640 --ah 480
  • roslaunch rtabmap_ros rgbd_mapping.launch ... ( subscribed topics )
dumbled0ge gravatar image dumbled0ge  ( 2016-08-01 01:57:15 -0500 )edit

well, make sure that /camera/depth/image_raw is registered with the RGB image.

matlabbe gravatar image matlabbe  ( 2016-08-01 15:16:24 -0500 )edit

Question Tools

1 follower


Asked: 2016-07-26 02:47:13 -0500

Seen: 1,375 times

Last updated: Jul 26 '16