This repo contains the launch and config files to make RtabMap run with RRC setup on a P3DX with RealSenseD455.
- All RtabMap documentation can be found on it's ros wiki page: rtabmap_ros wiki
To install RtabMap, follow the instructions on the official repo: rtabmap_ros
There is an associated launch file for RRC hardware lab rosbag under launch
folder, just download the RRC rosbag
To try Rtabmap using visual odometry, simply run the following:
# In one terminal:
roslaunch rtabmap_launch visual_odom_p3dx.launch
# In another terminal:
rosbag play --clock <rrc_bag>.bag
# In one terminal
roslaunch rtabmap_launch wheel_odom_p3dx.launch
# In another terminal
rosbag play --clock <rrc_bag>.bag