在 RealSense D435i 上使用Rtab建图操作步骤

一、硬件

相机：RealSense D435i

工控机： 幻影峡谷NUC 11代i7

系统：ubuntu 20.04 内核
ROS： neotic

二、安装Realsense SDK

SDK 安装在另一篇文章中说明了。链接为：ubuntu中使用Realsense相机建图,结果显示在RealSense Viewer-CSDN博客

三 、Rtab安装

1、源码安装rtabmap

git clone https://github.com/introlab/rtabmap.git rtabmap
cd rtabmap/build
cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..
make -j8
make install

2、源码安装rtabmap_ros

cd ~/catkin_ws
git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
catkin_make -j8 

3、修改launch文件

修改catkin_ws/src/rtabmap_ros/rtabmap_ros/launch中的rtabmap.launch

 <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/camera/color/image_raw" />
  <arg name="depth_topic"             default="/camera/aligned_depth_to_color/image_raw" />
  <arg name="camera_info_topic"       default="/camera/color/camera_info" />
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" /> <!-- RGB-D related topics -->

4、运行

roslaunch realsense2_camera rs_rgbd.launch 
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"

5、运行结果