• 安裝ROS
  參考：http://wiki.ros.org/kinetic/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt-get update sudo apt-get install ros-kinetic-desktop-full apt-cache search ros-kinetic sudo rosdep init rosdep update echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

創建一個ROS Workspace ：

mkdir -p ~/catkin_ws/srccd ~/catkin_ws/srccatkin_init_workspacecd ~/catkin_ws/catkin_make

• 安裝realsense

  參考：

  https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.mdhttps://blog.csdn.net/qq_41839222/article/details/86503113https://blog.csdn.net/jiangchuanhu/article/details/92795791

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u sudo apt-get install librealsense2-dkms sudo apt-get install librealsense2-utils sudo apt-get install librealsense2-dev sudo apt-get install librealsense2-dbg

• 安裝stereo_image_pro（非必要可選）

  參考：
  http://wiki.ros.org/stereo_image_proc
  安裝：

sudo apt-get install ros-kinetic-stereo-image-proc

• 安裝ORB_SLAM2

1.安裝好要用到的工具

sudo apt-get install cmake sudo apt-get install git

2.安裝Eigen

sudo apt-get install libeigen3-dev（版本問題可能存在大坑）

3.安裝Pangolin
依賴：

sudo apt-get install cmake sudo apt-get install libpython2.7-dev

安裝：

git clone https://github.com/stevenlovegrove/Pangolin.gitcd Pangolinmkdir build cd build cmake .. make –j4 sudo make install

4.安裝ORBSLAM2

git clone https://github.com/raulmur/ORB_SLAM2.git cd ORB_SLAM2分別刪除以下文件中的“-march=native” ORB_SLAM2/Thirdparty/g2o/CMakeLists.txt 第57、58行 ORB_SLAM2/CMakeLists.txt 第10、11行 ORB_SLAM2/Thirdparty/DBoW2/CMakeLists.txt 第4、5行chmod +x build.sh ./build.sh cd sudo vim ./.bashrc 在最后一行添加如下：export ORB_SLAM2_ROOT_DIR=/home/luo/source/ORB_SLAM2 （非常重要）

跑一下ORB_SLAM2驗證安裝是否成功，如：(跑數據集)

ORB_SLAM根目錄下運行：

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/luo/rgbd_dataset_freiburg1_desk

• 安裝rtabmap源碼

參考：
https://github.com/introlab/rtabmap/wiki/Installation
1.安裝依賴

sudo apt-get update sudo apt-get install libsqlite3-dev libpcl-dev libopencv-dev git cmake libproj-dev libqt5svg5-dev

2.安裝

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

git clone https://github.com/introlab/rtabmap.git rtabmap 打開：rtabmap/corelib/include/rtabmap/core/StereoCameraModel.h第104行（修改雙目基線） 將 double baseline() const {return right_.fx()!=0.0 && left_.fx() != 0.0 ? left_.Tx() / left_.fx() - right_.Tx()/right_.fx():0.0;} 改為 double baseline() const {return 0.05;} //right_.fx()!=0.0 && left_.fx() != 0.0 ? left_.Tx() / left_.fx() - right_.Tx()/right_.fx():0.0;} cd rtabmap/build cmake -DWITH_G2O=OFF -DCMAKE_INSTALL_PREFIX=/home/luo/catkin_ws/devel .. （非常重要 如果把GTSAM庫也OFF可能會沒有回環） make -j4 sudo make install sudo ldconfig

測試源碼安裝是否成功：插上D435i
參考：https://github.com/introlab/rtabmap/wiki/Kinect-mapping

cd ../bin ./rtabmap 步驟： ->OK ->OK ->New database ->Select source ->RGB-D camera ->Realsense D435 ->Realsense 2 ->start 界面能顯示建圖效果，則源碼安裝成功

若運行start以后界面閃退（天坑），則安裝失敗 具體情況根據error而定
（若編譯的時候報大量Eigen的警告，可能是Eigen的原因，跟換Eigen版本）

編譯rtabmap_ros（修改雙目基線）

cd ~/catkin_ws git clone https://github.com/IntelRealSense/realsense-ros vim realsense-ros/realsense2_camera/src/base_realsense_node.cpp 將第1646行 _camera_info[stream_index].P.at(3) = 0; 更改為： if(stream_index.second == 2){_camera_info[stream_index].P.at(3) = -0.05;}git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros catkin_make

3.運行rtabmap

3.1 rtabmap+orb_slam2(雙目)+realsense2

//啟動realsense 1. roslaunch realsense2_camera rs_camera.launch //雙目矯正（可選） 2. ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc left/image_raw:=/camera/infra1/image_rect_raw right/image_raw:=/camera/infra2/image_rect_raw left/camera_info:=/camera/infra1/camera_info right/camera_info:=/camera/infra2/camera_info _approximate_sync:=true//啟動rtabmap 3. roslaunch rtabmap_ros stereo_mapping.launch stereo_namespace:="/camera" rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath "/home/luo/source/ORB_SLAM2/Vocabulary/ORBvoc.txt"" left_image_topic:=/camera/left/image_rect right_image_topic:=/camera/right/image_rect left_camera_info_topic:=/camera/infra1/camera_info right_camera_info_topic:=/camera/infra2/camera_info /rtabmap/odom_info:=/camera/infra1/camera_info stereo:=true frame_id:=camera_link approx_sync:=false

3.2 rtabmap+orb_slam2(RGB-D)+realsense2

//啟動realsense 1. roslaunch realsense2_camera rs_rgbd.launch //啟動rtabmap 2. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath "/home/luo/source/ORB_SLAM2/Vocabulary/ORBvoc.txt"" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false

3.3 rtabmap+F2M(RGB-D)+realsense2

//啟動相機 1. roslaunch realsense2_camera rs_rgbd.launch //啟動realsense 2. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false

總結

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