ROS2与VSLAM入门教程-整合rtabmap建图

ROS2与VSLAM入门教程-整合rtabmap建图

说明:

• 介绍如何在ros2下使用rtabmap
• 版本: galactic

步骤:

• 编译源码

$ cd ~/ros2_ws
$ git clone https://github.com/introlab/rtabmap.git src/rtabmap
$ git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
$ colcon build --symlink-install

turtlebot3激光仿真测试

• 新开终端，启动仿真

$ export TURTLEBOT3_MODEL=waffle
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

• 新开终端，启动键盘

$ export TURTLEBOT3_MODEL=waffle
$ ros2 run turtlebot3_teleop teleop_keyboard

• 新开终端，启动RTAB-Map:

$ ros2 launch rtabmap_ros turtlebot3_scan.launch.py

• 效果图：

• 新开终端，启动导航(nav2_bringup package should be installed):

$ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True

• 新开终端，启动rviz

$ ros2 launch nav2_bringup rviz_launch.py

• 可以通过在rviz上指定目标点实现导航和建图
• 效果图：

turtlebot3深度相机仿真测试

• 修改 turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf 增加深度相机配置
• 增加内容

  <joint name="camera_rgb_optical_joint" type="fixed">
    <parent>camera_rgb_frame</parent>
    <child>camera_rgb_optical_frame</child>
    <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
    <axis>
      <xyz>0 0 1</xyz>
    </axis>
  </joint> 

• 重命名 <link name="camera_rgb_frame"> 为 <link name="camera_rgb_optical_frame">
• 增加 <link name="camera_rgb_frame"/>
• 修改 <sensor name="camera" type="camera"> 为 <sensor name="camera" type="depth">
• 修改 image width/height from 1920x1080 to 640x480
• 修改 min scan range from 0.12 to 0.2
• 新开终端，启动仿真

$ export TURTLEBOT3_MODEL=waffle
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

• 新开终端，启动键盘

$ export TURTLEBOT3_MODEL=waffle
$ ros2 run turtlebot3_teleop teleop_keyboard

• 新开终端，启动RTAB-Map:

$ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py

• 效果图：

• 新开终端，启动导航(nav2_bringup package should be installed):

$ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True

• 新开终端，启动rviz

$ ros2 launch nav2_bringup rviz_launch.py

• 通过rviz上的设定目标点，可以实现边建图边导航
• 效果图：

• 更多的例子可以参考

参考:

• 官方github