맵 작성 2트

0. scp -r quad@192.167.1.31:~/.ros/rtabmap.db ~/

ssh -i ~/.ssh/id_ed25519 -Y quad@192.167.1.31

 

 

1.

ros2 launch mavros px4.launch   fcu_url:=serial:///dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0:921600   fcu_protocol:=v2.0

 

 

2.

ros2 launch realsense2_camera rs_launch.py   align_depth:=true   enable_gyro:=true enable_accel:=true   unite_imu_method:=2   enable_sync:=true   publish_tf:=true 

 

 

3.

ros2 run tf2_ros static_transform_publisher   0.10 -0.02 0.05  0 0.13 0 1  base_link  camera_link

 

 

4.

ros2 run tf2_ros static_transform_publisher   0 0 0  -0.5 0.5 -0.5 0.5  camera_link  camera_color_optical_frame

 

 

5.

ros2 run imu_filter_madgwick imu_filter_madgwick_node   --ros-args   -p use_mag:=false   -p world_frame:="enu"   -p publish_tf:=false   -r imu/data_raw:=/camera/camera/imu   -r imu/data:=/rtabmap/imu

 

 

6.

ros2 run rtabmap_odom rgbd_odometry --ros-args --params-file ~/rtabmap_odom_params.yaml -r rgb/image:=/camera/camera/color/image_raw -r depth/image:=/camera/camera/depth/image_rect_raw -r rgb/camera_info:=/camera/camera/color/camera_info -r depth/camera_info:=/camera/camera/depth/camera_info -r imu:=/rtabmap/imu

 

ros2 run rtabmap_odom rgbd_odometry --ros-args --params-file ~/rtabmap_odom_params2.yaml -r rgb/image:=/camera/camera/color/image_raw -r depth/image:=/camera/camera/depth/image_rect_raw -r rgb/camera_info:=/camera/camera/color/camera_info -r depth/camera_info:=/camera/camera/depth/camera_info -r imu:=/rtabmap/imu

 

 

 

7.

이는 frame id가 baselink

ros2 run rtabmap_slam rtabmap     --delete_db_on_start     --Optimizer/GravitySigma 0.1     --ros-args     -p frame_id:=base_link     -p odom_frame_id:=odom     -p map_frame_id:=map     -p publish_tf:=true     -p subscribe_depth:=true     -p subscribe_rgb:=true     -p subscribe_imu:=true     -p approx_sync:=true     -p qos_image:=2     -p qos_camera_info:=2     -p wait_for_transform:=0.6     -p queue_size:=50     -r rgb/image:=/camera/camera/color/image_raw     -r depth/image:=/camera/camera/depth/image_rect_raw     -r rgb/camera_info:=/camera/camera/color/camera_info     -r odom:=/odom     -r imu:=/rtabmap/imu     -r depth/camera_info:=/camera/camera/depth/camera_info

 

이는 frame id가 camera_link

ros2 run rtabmap_slam rtabmap     --delete_db_on_start     --Optimizer/GravitySigma 0.1     --ros-args     -p frame_id:=camera_link     -p odom_frame_id:=odom     -p map_frame_id:=map     -p publish_tf:=true     -p subscribe_depth:=true     -p subscribe_rgb:=true     -p subscribe_imu:=true     -p approx_sync:=true     -p qos_image:=2     -p qos_camera_info:=2     -p wait_for_transform:=0.6     -p queue_size:=50     -r rgb/image:=/camera/camera/color/image_raw     -r depth/image:=/camera/camera/depth/image_rect_raw     -r rgb/camera_info:=/camera/camera/color/camera_info     -r odom:=/odom     -r imu:=/rtabmap/imu     -r depth/camera_info:=/camera/camera/depth/camera_info