/rtabmap-rrc

Repository containing the launch files to run rtabmap with RRC setup/rosbags

RtabMap with RRC P3DX

This repo contains the launch and config files to make RtabMap run with RRC setup on a P3DX with RealSenseD455.

Documentation

  • All RtabMap documentation can be found on it's ros wiki page: rtabmap_ros wiki

Installation

To install RtabMap, follow the instructions on the official repo: rtabmap_ros

Running on RRC rosbag

There is an associated launch file for RRC hardware lab rosbag under launch folder, just download the RRC rosbag

Visual Odometry (RGBD) Node

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

Wheel Odometry Node

# In one terminal
roslaunch rtabmap_launch wheel_odom_p3dx.launch

# In another terminal
rosbag play --clock <rrc_bag>.bag