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

asked 2016-07-26 02:47:13 -0600

dumbled0ge gravatar image

updated 2016-07-26 05:05:30 -0600

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)

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answered 2016-07-26 08:26:46 -0600

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
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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 imagedumbled0ge ( 2016-08-01 01:52:50 -0600 )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 imagedumbled0ge ( 2016-08-01 01:57:15 -0600 )edit

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

matlabbe gravatar imagematlabbe ( 2016-08-01 15:16:24 -0600 )edit

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Asked: 2016-07-26 02:47:13 -0600

Seen: 1,069 times

Last updated: Jul 26 '16