Ubuntu16.04下使用ros-kinetic与Kinect v2深度相机跑通RTAB-MAP

由于一些原因需要跑一下视觉slam，跑通了RGBD-SLAMV2，ORB-SLAMV2，RTAB-MAP等开源算法，但在安装运行的过程中也遇到了一些问题，想把它记录下来希望对大家有所帮助。该文章为RGBD-SLAMV2的最新教程，设备为ubuntu16.04,ros-kinetic.以及kineticv2深度相机。
运行效果:https://www.bilibili.com/video/BV1ny4y1n7kS/
1.命令行安装编译

sudo apt-get install ros-kinetic-rtabmap-ros

2.RTAB-MAP启动指令

//rosrun tf static_transform_publisher 0 0 0 .5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100
rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info
roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

or

roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
roslaunch rtabmap_ros rgbd_mapping_kinect2.launch