3DSLAM builds RGBD-SLAM installation and bag running process

Reference: http://rosclub.cn/post-971.html

Code download https://github.com/felixendres/rgbdslam_v2

Step 1. Download the rgbdslam ros package and extract it to catkin_ws/src

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

Or github download the source code and enter the catkin_ws/src directory

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

Step 2. Compile the source code

cd ~/catkin_ws
catkin_make

If there is a dependency error, install the dependency with the rosdep install rgbdslam command

Then go to https://vision.in.tum.de/data/datasets/rgbd-dataset to download the data bag

The data package I downloaded has

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 These packets are published by default on the theme /camera/rgb/image_color /camera/depth/image

So here we need to modify the content of the rgbdslam.launch file in the ~/catkin_ws/src/rgbdslam/launch$ directory

before fixing

<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"/>

after modification

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

Then start rgbdslam.launch in the terminal

$ roslauch rgbdslam.launch

play bag

$ rosbag play rgbd_dataset_freiburg1_360.bag

renderings

You can try the rgbd_dataset_freiburg1_desk.bag data package

$ rosbag play rgbd_dataset_freiburg1_desk.bag