3DSLAM构建 RGBD-SLAM安装及跑bag流程

参考：http://rosclub.cn/post-971.html

代码下载 https://github.com/felixendres/rgbdslam_v2

步骤1. 下载rgbdslam ros包解压到catkin_ws/src 下

wget -q http://github.com/felixendres/rgbdslam_v2/archive/indigo.zip
unzip -q indigo.zip //解压

或者github 下载源码 进入catkin_ws/src目录

# cd ~/catkin_ws/src
# git clone https://github.com/felixendres/rgbdslam_v2

步骤2.编译源码

cd ~/catkin_ws
catkin_make

如果出现依赖报错，安装依赖 rosdep install rgbdslam命令

然后到 https://vision.in.tum.de/data/datasets/rgbd-dataset 地址下载数据bag

我下的数据包有

1.rgbd_dataset_freiburg1_360.bag    

2.rgbd_dataset_freiburg2_coke.bag

3.rgbd_dataset_freiburg1_desk.bag   

4.rgbd_dataset_freiburg2_pioneer_slam2.bag

5.rgbd_dataset_freiburg1_teddy.bag

rosbag play 这些数据包  默认发布的主题是/camera/rgb/image_color  /camera/depth/image

所以这里要修改~/catkin_ws/src/rgbdslam/launch$ 目录下的 rgbdslam.launch文件内容

修改前

 <param name="config/topic_image_mono"              value="/camera/rgb/image_color"/> 
 <param name="config/topic_image_depth"             value="/camera/depth_registered/sw_registered/image_rect_raw"/>

修改后

<param name="config/topic_image_mono"              value="/camera/rgb/image_color"/> 
<param name="config/topic_image_depth"             value="/camera/depth/image"/>

然后在终端启动rgbdslam.launch

$ roslauch rgbdslam.launch

播放bag数据包

$ rosbag play rgbd_dataset_freiburg1_360.bag

效果图

可以试试 rgbd_dataset_freiburg1_desk.bag数据包

$ rosbag play rgbd_dataset_freiburg1_desk.bag