RTAB-MAP安装使用教程

安装

sudo apt-get install ros-indigo-rtabmap-ros

RGB-D传感器准备

• Kinect v2 (Xbox One)
  
$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

• Zed camera
  
  • A（不发布tf）或者B(发布tf)
    
// A) With rtabmap odometry:
$ export ROS_NAMESPACE=camera
$ roslaunch zed_wrapper zed_camera.launch publish_tf:=false


// B) With zed odometry:
$ export ROS_NAMESPACE=camera
$ roslaunch zed_wrapper zed_camera.launch


构图模式

Launch (rtabmapviz)

 $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"

• 如果使用的是kinect2_bridge：
  
$ 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


• 如果使用的是Zed camera

  • A or B (depending of the one chosen above):
    

     // A) With rtabmap odometry
     $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered frame_id:=zed_center approx_sync:=false
           定位模式启动
    $ roslaunch rtabmap_ros rtabmap.launch localization:=true depth_topic:=/camera/depth/depth_registered frame_id:=zed_center approx_sync:=false  rviz:=false rtabmapviz:=false

   // B) With zed odometry
   $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered frame_id:=zed_center approx_sync:=false visual_odometry:=false odom_topic:=/camera/odom

• 如果需要使用rviz Launch (rviz):

   $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false

rtabmap.launch参数解析

name	default	description
stereo	false	选择rgbd或者stereo
rtabmapviz	true	选择可视化工具
rviz	false	选择可视化工具
cfg		相应的配置文件
frame_id	camera_link	固定帧id，可以设置为base_link等等
namespace	rtabmap
database_path	~/.ros/rtabmap.db	地图数据保存在~/.ros/rtabmap.db
queue_size	10
wait_for_transform	0.2
rtabmap_args		delete_db_on_start （开始前删除之前的地图数据）udebug
launch_prefix		for debugging purpose, it fills launch-prefix tag of the nodes
approx_sync	true	如果输入主题的时间不同步
RGB-D 相关的话题
rgb_topic	/camera/rgb/image_rect_color
depth_topic	/camera/depth_registered/image_raw
camera_info_topic	/camera/rgb/camera_info
stereo相关的话题
stereo_namespace	stereo_camera
left_image_topic	$(arg stereo_namespace)/left/image_rect_color”
right_image_topic	$(arg stereo_namespace)/right/image_rect”
left_camera_info_topic	$(arg stereo_namespace)/left/camera_info”
right_camera_info_topic	$(arg stereo_namespace)/right/camera_info”
compressed	false	如果你想订阅压缩的主题
rgb_image_transport	compressed	Common types: compressed, theora (see “rosrun image_transport list_transports”)
subscribe_scan	false	是否订阅激光
scan_topic	/scan
subscribe_scan_cloud	false	是否订阅激光点云
scan_cloud_topic	/scan_cloud
visual_odometry	true	启动rtab视觉测距节点
odom_topic	/odom	如果没启用rtabmap视觉测距节点则指定原里程计话题
odom_args

注意

indigo版本和kinect版本之间的mapdata格式存在差异，不同版本之间发布和订阅会出现无tf输出的情况