啓動相機
roslaunch realsense2_camera rs_camera.launch
終端參數輸出
PARAMETERS
* /camera/realsense2_camera/accel_fps: 250
* /camera/realsense2_camera/accel_frame_id: camera_accel_frame
* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /camera/realsense2_camera/align_depth: True
* /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/allow_no_texture_points: False
* /camera/realsense2_camera/base_frame_id: camera_link
* /camera/realsense2_camera/calib_odom_file:
* /camera/realsense2_camera/clip_distance: -2.0
* /camera/realsense2_camera/color_fps: 30
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: 480
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: 640
* /camera/realsense2_camera/depth_fps: 30
* /camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /camera/realsense2_camera/depth_height: 480
* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /camera/realsense2_camera/depth_width: 640
* /camera/realsense2_camera/enable_accel: True
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: True
* /camera/realsense2_camera/enable_fisheye2: True
* /camera/realsense2_camera/enable_fisheye: True
* /camera/realsense2_camera/enable_gyro: True
* /camera/realsense2_camera/enable_infra1: True
* /camera/realsense2_camera/enable_infra2: True
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_sync: True
* /camera/realsense2_camera/filters:
* /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
* /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
* /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
* /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
* /camera/realsense2_camera/fisheye_fps: 30
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: 480
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: 640
* /camera/realsense2_camera/gyro_fps: 400
* /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
* /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
* /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /camera/realsense2_camera/infra_fps: 30
* /camera/realsense2_camera/infra_height: 480
* /camera/realsense2_camera/infra_width: 640
* /camera/realsense2_camera/initial_reset: False
* /camera/realsense2_camera/json_file_path:
* /camera/realsense2_camera/linear_accel_cov: 0.01
* /camera/realsense2_camera/odom_frame_id: camera_odom_frame
* /camera/realsense2_camera/pointcloud_texture_index: 0
* /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /camera/realsense2_camera/pose_frame_id: camera_pose_frame
* /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
* /camera/realsense2_camera/publish_odom_tf: True
* /camera/realsense2_camera/publish_tf: True
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/tf_publish_rate: 0.0
* /camera/realsense2_camera/topic_odom_in: odom_in
* /camera/realsense2_camera/unite_imu_method: copy
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
主要關注座標系：
- /camera/realsense2_camera/base_frame_id: camera_link
rosrun rqt_tf_tree rqt_tf_tree
rqt_graph
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false frame_id:=camera_link
增加base_footprint 座標系 這個座標系底盤的座標系
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="–delete_db_on_start" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false frame_id:=base_footprint
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_footprint camera_link 100
rosrun tf static_transform_publisher 0 0 0 0 0 0 odom base_footprint 100
深度圖轉換爲雷達數據
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_rect_raw camera_info:=/camera/depth/camera_info range=0.1 range_max=5
保存地圖
rosrun map_server map_saver -f rtabmap map:=/rtabmap/grid_map
只啓動導航的turtlebot rqt_graph
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
啓動gmapping的 turtlebot
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
