Mapping software
Now that we’ve got our depth sensor running on ROS, finding a ROS package to run SLAM on RGBD sensor streams is quite easy. One option is RTAB-Map and it’s easy to install. On Ubuntu, with ROS Kinetic, a quick
apt-get
install ros-kinetic-rtabmap-ros
In
order to run the mapping software, we first launch our sensor driver
to output RGBD data
roslaunch realsense_camera r200_nodelet_rgbd.launchIn a new terminal, we start the mapping nodes
roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" depth_registered_topic:=/camera/depth_registered/sw_registered/image_rect_rawOnce you’re done, you
can export the point cloud. You’ll get a .ply file saved in ~/.ros/
that you can convert to a .pcd file and display.
For
that you first need to install the point cloud library packages:
sudo
apt-get install ros-kinetic-pcl-ros
Then
run
pcl_ply2pcd input.ply output.pcdpcl_viewer output.pcd