ubuntu18.04安装Rtabmap（具体详细步骤）

ubuntu18.04安装Rtabmap

踩坑：rtabmap下载下来之后只需要单独放在主目录下，Rtabmap-ros需要放在工作空间下。两者不可以放在同一个文件下，否则在工作空间中catkin_make不通过。请不要打乱以下教程命令的执行顺序！！！！

1、安装rtabmap

(1)源码安装rtabmap
执行：

git clone https://github.com/introlab/rtabmap.git rtabmap

时会出现连接错误：那请使用手机热点下载。
如果还是不行的话将执行命令变更为：

git clone git://github.com/introlab/rtabmap.git rtabmap

且请使用手机热点下载，校园网总是失败，出现提前结束的错误。

(2)新建rtabmap_ws工作空间。//这里自定义建立的工作空间rtabmap_ws名字与步骤(4)中建立“软链接”（步骤(4)中第二行代码）所使用的名字需要一致。

mkdir -p ~/rtabmap_ws/src 
cd ..           
cd ~/rtabmap_ws                                         
catkin_make

sudo gedit ~/.zshrc

或者sudo gedit ~/.bashrc

打开.zshrc文件在最后一行添加source ~/rtabmap_ws/devel/setup.zsh或者source ~/rtabmap_ws/devel/setup.bashrc

(3)一定要先安装依赖
重新开启一个终端依次执行以下两句命令安装必要的PCL, VTK, OpenCV, …等依赖（这个地方切换为有线网络就可以）

sudo apt-get install ros-melodic-rtabmap ros-melodic-rtabmap-ros
sudo apt-get remove ros-melodic-rtabmap ros-melodic-rtabmap-ros

踩坑记录：如果前一步没有先安装依赖那么这里将会报错如图所时缺少“PCL”…

CMake Error at CMakeLists.txt:217 (FIND_PACKAGE):
By not providing “FindPCL.cmake” in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by “PCL”, but
CMake did not find one.

Could not find a package configuration file provided by “PCL” (requested
version 1.7) with any of the following names:

PCLConfig.cmake
pcl-config.cmake

Add the installation prefix of “PCL” to CMAKE_PREFIX_PATH or set “PCL_DIR”
to a directory containing one of the above files. If “PCL” provides a
separate development package or SDK, be sure it has been installed.
– Configuring incomplete, errors occurred!
See also “/home/ly/rtabmap_ws/src/rtabmap/build/CMakeFiles/CMakeOutput.log”.

如果前一步没有先安装依赖后续两步也会出现错误
make: *** 没有指明目标并且找不到 makefile。 停止。
(4)继续前进
执行：

cd rtabmap/build
cmake -DCMAKE_INSTALL_PREFIX=~/rtabmap_ws/devel ..
make -j4
make install

2、安装rtabmap_ros

cd ~/rtabmap_ws

打开手机热点执行：

git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros

如果遇到问题：
正克隆到 ‘src/rtabmap_ros’…
fatal: unable to access ‘https://github.com/introlab/rtabmap_ros.git/’: gnutls_handshake() failed: Error in the pull function.

请将https换作git就可以

git clone git://github.com/introlab/rtabmap_ros.git src/rtabmap_ros

OK，解决了效果如下图：

继续执行：catkin_make
如果出现下图则说明没问题。
修改rtabmap_ws/src/rtabmap_ros/launch中的rtabmap.launch

修改目录如下图：

57行到61行替换的内容：

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

换为：

 <!-- 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 -->

新开启终端执行：

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

结果为如图