SLAM with rtabmap

Owned by Jürgen Baier
Last updated: Mar 06, 2024 by Andreas Dohren
1 min read

 

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Base Driver installation

Installation in Ubuntu

sudo wget -qO- https://docs.luxonis.com/install_depthai.sh | bash

Calibration

https://docs.luxonis.com/en/latest/pages/calibration/

Standalone RTAB-Map (optional)

Github Repo Download RTAB-Map for Windows / Mac

If you want to use OAK-D Lite with Ubuntu, you need to build yourself and activate depthai in CMakeLists.txt !

https://github.com/introlab/rtabmap/wiki/Installation

Installation for Ros2

sudo apt install ros-humble-depthai-ros sudo apt install ros-humble-rtabmap sudo apt install ros-humble-rtabmap-ros (arm architecture: https://github.com/introlab/rtabmap_ros/issues/1098) sudo apt install ros-humble-rtabmap-viz source ~/.bashrc ros2 launch depthai_ros_driver rtabmap.launch.py

 

Tools:

ros2 run rqt_gui rqt_gui ros2 run rqt_console rqt_console ros2 run rqt_graph rqt_graph ros2 topic list find /opt/ros/humble/share/ -type d -name "*depthai*" -exec find {} -type f -name "*.launch.py" \;