How to generate rtabmap with a Realsense D435 or Xtion Pro Live？（如何使用Realsense D435或者Xtion Pro Live生成rtabmap？）

Ubuntu16.04，ROS kinetic

1.在ROS中安装rtabmap_ros包

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

2. RGB-D相机实时建图

启动相机

realsense：

roslaunch realsense2_camera rs_camera.launch align_depth:=true

Xtion： 

roslaunch openni2_launch openni2.launch depth_registration:=true

如没有安装Xtion驱动，参考Ubuntu 16.04 ROS-kinetic安装华硕Xtion Pro Live驱动

3. 建图模式——两种在线可视化方式：rtabmapviz或者rviz。

(1) Launch (rtabmapviz): rtabmap.launch

For RealSense D435：

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

For freenect, openni and openni2:

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

(2)Launch (rviz):

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false

参考文献：

• Source: git https://github.com/introlab/rtabmap_ros.git (branch: kinetic-devel)
• http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
• http://www.linuxdiyf.com/linux/32962.html