一、源码安装realsense
实时输出相机坐标:
进入~/librealsense/build/examples/pose打开终端
./rs-pose
二、源码安装对应版本realsense-ros
roslaunch realsense2_camera demo_t265.launch
实时输出相机里程计信息:
rostopic echo -c /camera/odom/sample
录制rosbag保存及查看里程计话题:
rosbag recoad -o xxx.bag /camera/odom/sample
记录完成后关闭t265_launch
rosbag play xxx.bag
rostopic echo -c /camera/odom/sample