RGB-D相机手持建图
参考:http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
描述
本教程展示了如何在映射模式或本地化模式下使用rtabmap_ros与类kinect传感器
1.RGB and depth sensors
兼容OpenNI和OpenNI2的RGB-D传感器将使用openni_launch、openni2_launch、freenect_launch、iai_kinect2或Zed包开箱即用。传感器测试:
- RealSense D435i/L515
# ISSUE: Use unite_imu_method:="copy" if imu topics keep stopping
$ roslaunch realsense2_camera rs_camera.launch \
align_depth:=true \
unite_imu_method:="linear_interpolation" \
enable_gyro:=true \
enable_accel:=true
$ rosrun imu_filter_madgwick imu_filter_node \
_use_mag:=false \
_publish_tf:=false \
_world_frame:="enu" \
/imu/data_raw:=/camera/imu \
/imu/data:&