rtabmap ros 연습

sudo apt install ros-humble-rtabmap-ros

ros2 launch realsense2_camera rs_launch.py

ros2 launch rtabmap_launch rtabmap.launch.py   rtabmap_args:="--delete_db_on_start"   rgb_topic:=/camera/camera/color/image_raw   depth_topic:=/camera/camera/depth/image_rect_raw   camera_info_topic:=/camera/camera/color/camera_info   approx_sync:=True


ros2 run tf2_ros static_transform_publisher \
  0 0 0  0 0 0 \
  base_link \
  camera_color_optical_frame