jwpleow / catkin_ws_sailmav_rtabmap

RTAB-Map for SAILMav

Setup

Build rtabmap from source following the instructions Get imu_tools:

sudo apt-get install ros-noetic-imu-tools

Place rtabmap_gui.ini in /home/$USER/.ros/ and fix the first line in the file.

IMU Calibration

Perform simple IMU calibration:

rosrun imu_calib do_calib

Launch

# start camera and imu pub on SailMAV https://github.com/jwpleow/SailMAV_ROS_RPI (use correct branch for IMU)
# start rectifier and depth inference node https://github.com/jwpleow/stereo_libtorch_inference

roslaunch rtabmap_sailmav.launch