d435i rtabmap测试命令行

在realsense-ros包中的rs_rtabmap.launch文件中更改为以下内容

    <arg name="device_type_camera1"    		default="t265"/>
    <arg name="device_type_camera2"    		default="d4.5"/>	<!-- Note: using regular expression. match D435, D435i, D415... -->
    <arg name="serial_no_camera1"    			default=""/>
    <arg name="serial_no_camera2"    			default=""/>
    <arg name="camera1"              			default="t265"/>		<!-- Note: Replace with camera name -->
    <arg name="camera2"              			default="d400"/>		<!-- Note: Replace with camera name -->
    <arg name="clip_distance"             default="-2"/>
    <arg name="use_rviz"                  default="false"/>
    <arg name="use_rtabmapviz"            default="true"/>


    <include file="$(find realsense2_camera)/launch/rs_aligned_depth.launch">  </include> 
    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">

            <arg name="rviz"               value="$(arg use_rviz)"/>
            <arg name="rtabmapviz"         value="$(arg use_rtabmapviz)"/>
                <arg name="rgb_topic"               default="/camera/color/image_raw" />
                <arg name="depth_topic"             default="/camera/depth/image_rect_raw" />
                <arg name="camera_info_topic"       default="/camera/color/camera_info" />
                <arg name="depth_camera_info_topic" default="/camera/depth/camera_info" /> <!-- RGB-D related topics -->
    </include>