rtabmap with kinect 1(realsense d435i)

1、安装 Kinect 驱动：

a. sudo apt-get install ros-kinetic-freenect-* 

b. rospack profile

2、安装rtabmap_ros

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

3、启动rtabmap

for kinect 1:

a. roslaunch freenect_launch freenect.launch depth_registration:=true

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

for realsense d435i:

a. roslaunch realsense2_camera rs_camera.launch align_depth:=true unite_imu_method:="linear_interpolation"

b. rosrun imu_filter_madgwick imu_filter_node _use_mag:=false _publish_tf:=false _world_frame:="enu" /imu/data_raw:=/camera/imu /imu/data:=/rtabmap/imu

c. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false wait_imu_to_init:=true imu_topic:=/rtabmap/imu

note: 重置内存/删除缓存：rosservice call /rtabmap/reset

浏览缓存：rtabmap-databaseViewer ~/.ros/rtabmap.db

定位模式：

a. rosservice call /rtabmap/reset_odom

b. roslaunch rtabmap_ros rtabmap.launch localization:=true