[ROS] REALSENSE R200을 활용한 SLAM 구현하기(수정중)

1. ROS 로 R200 실행하기

2. rviz를 이용해 동작 확인합니다.
2-1. realsense_camera 실행


2-2. rviz 실행합니다.
1) ADD > PointCloud2



2) PointCloud2 > Topic > /camera/depth/points 선택


3) 이때 Status: Error 가 발생한다. 이를 해결하기 위해 Global Options > Fix frame > camera_depth_frame으로 변경합니다.

4) rviz 로 영상을 확인합니다.



3. Cartographer[3]

Subscribed Topics

scan (sensor_msgs/LaserScan) Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner). If num_laser_scans is set to 1 in the Configuration, this topic will be used as input for SLAM. If num_laser_scans is greater than 1, multiple numbered scan topics (i.e. scan_1, scan_2, scan_3, ... up to and includingnum_laser_scans) will be used as inputs for SLAM. echoes (sensor_msgs/MultiEchoLaserScan) Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner). If num_multi_echo_laser_scans is set to 1 in the Configuration, this topic will be used as input for SLAM. Only the first echo is used. If num_multi_echo_laser_scans is greater than 1, multiple numbered echoes topics (i.e. echoes_1, echoes_2, echoes_3, ... up to and includingnum_multi_echo_laser_scans) will be used as inputs for SLAM. points2 (sensor_msgs/PointCloud2) If num_point_clouds is set to 1 in the Configuration, this topic will be used as input for SLAM. If num_point_clouds is greater than 1, multiple numbered points2 topics (i.e. points2_1, points2_2, points2_3, ... up to and including num_point_clouds) will be used as inputs for SLAM. The following additional sensor data topics may also be provided. imu (sensor_msgs/Imu) Supported in 2D (optional) and 3D (required). This topic will be used as input for SLAM. odom (nav_msgs/Odometry) Supported in 2D (optional) and 3D (optional). If use_odometry is enabled in the Configuration, this topic will be used as input for SLAM.

Published Topics

scan_matched_points2 (sensor_msgs/PointCloud2) Point cloud as it was used for the purpose of scan-to-submap matching. This cloud may be both filtered and projected depending on the Configuration. submap_list (cartographer_ros_msgs/SubmapList) List of all submaps, including the pose and latest version number of each submap, across all trajectories.

Services

submap_query (cartographer_ros_msgs/SubmapQuery) Fetches the requested submap. start_trajectory (cartographer_ros_msgs/StartTrajectory) Starts another trajectory by specifying its sensor topics and trajectory options as an binary-encoded proto. Returns an assigned trajectory ID. finish_trajectory (cartographer_ros_msgs/FinishTrajectory) Finishes the given trajectory_id‘s trajectory by running a final optimization. write_state (cartographer_ros_msgs/WriteState) Writes the current internal state to disk into filename. The file will usually end up in ~/.ros or ROS_HOME if it is set. This file can be used as input to the assets_writer_main to generate assets like probability grids, X-Rays or PLY files.

[참고자료]
[1] http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
[2] http://syrianspock.github.io/sensors/ros/2016/08/20/realsense-r200/
[3] https://google-cartographer-ros.readthedocs.io/en/latest/ros_api.html

[4] https://answers.ros.org/question/218957/realsense-r200-with-rtabmap-rgbd-odometry/