{"id":557,"date":"2025-07-07T23:58:34","date_gmt":"2025-07-07T15:58:34","guid":{"rendered":"https:\/\/cennum.top\/?p=557"},"modified":"2025-07-08T23:36:32","modified_gmt":"2025-07-08T15:36:32","slug":"%e5%9c%a8ros2%e4%b8%ad%e5%ae%89%e8%a3%85%e5%b9%b6%e9%83%a8%e7%bd%b2rtabmap%ef%bc%8c%e5%bb%ba%e5%9b%be%e5%b9%b6%e4%bf%9d%e5%ad%98","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/07\/07\/%e5%9c%a8ros2%e4%b8%ad%e5%ae%89%e8%a3%85%e5%b9%b6%e9%83%a8%e7%bd%b2rtabmap%ef%bc%8c%e5%bb%ba%e5%9b%be%e5%b9%b6%e4%bf%9d%e5%ad%98\/","title":{"rendered":"\u5728ROS2\u4e2d\u5b89\u88c5\u5e76\u90e8\u7f72RTABMAP\uff0c\u5efa\u56fe\u5e76\u4fdd\u5b58"},"content":{"rendered":"\n

\u672c\u6587\u7ae0\u6f14\u793a\u4ece\u6e90\u7801\u7f16\u8bd1rtabmap\uff0c\u5e76\u4e14\u914d\u5408intel realsense t265\u4e0ed435\u8fdb\u884c\u5730\u56fe\u6784\u5efa<\/strong><\/p>\n\n\n\n

\u793a\u4f8b\u73af\u5883\uff1aubuntu22.04 amd64 ROS2 humble<\/strong><\/p>\n\n\n\n

1.\u5b89\u88c5RTABMAP<\/h3>\n\n\n\n

\u5c3d\u7ba1\u5728ubuntu\u4e0a\u4f60\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528apt\u547d\u4ee4\uff08\u4ee5\u4e0b\u547d\u4ee4\uff09\u6765\u76f4\u63a5\u5b89\u88c5\u5b89\u88c5 RTAB-Map ROS 2 \u5305<\/p>\n\n\n\n

sudo apt install ros-humble-rtabmap-ros\n#rviz\u63d2\u4ef6\uff08\u53ef\u9009\uff09\nsudo apt install ros-humble-rtabmap-rviz\nsudo apt install ros-humble-rtabmap-rviz<\/code><\/pre>\n\n\n\n
\u4f46\u662f\u4e0d\u6392\u9664\u4f60\u6709\u7279\u6b8a\u60c5\u51b5\uff0c\u9700\u8981\u4f7f\u7528\u6e90\u7801\u5b89\u88c5\u6765\u83b7\u5f97RTABMAP\u7684\u5168\u90e8\u529f\u80fd<\/p>\n\n\n\n
1.1 \u8fdb\u5165\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4<\/h5>\n\n\n\n
cd ~\/ros2_ws\/src\/<\/code><\/pre>\n\n\n\n
1.2. \u514b\u9686rtabmap\u548crtabmap_ros\u6e90\u7801 (Humble\u5bf9\u5e94\u7684\u5206\u652f)<\/h5>\n\n\n\n
git clone https:\/\/github.com\/introlab\/rtabmap.git -b master
git clone https:\/\/github.com\/introlab\/rtabmap_ros.git -b humble-devel<\/code><\/pre>\n\n\n\n
1.3. \u56de\u5230\u5de5\u4f5c\u7a7a\u95f4\u6839\u76ee\u5f55\u5e76\u5b89\u88c5\u4f9d\u8d56\uff0c\u8fd9\u4e00\u6b65\u53ef\u80fd\u4f1a\u63d0\u793a\u5f88\u591a\u7f3a\u5931\u7684\u5305\uff0c\u6839\u636e\u63d0\u793a\u7528sudo apt install \u2026\u6765\u5b89\u88c5\uff08\u5e94\u8be5\u4f1a\u6709\u51e0\u4e2a\u4f9d\u8d56\u4f7f\u7528rosdep install\u4e5f\u4e0d\u80fd\u53d1\u73b0……\uff09<\/h5>\n\n\n\n
cd ~\/ros2_ws
rosdep install -i --from-path src --rosdistro humble -y<\/code><\/pre>\n\n\n\n
1.4. \u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4 \u3002\u5728\u7f16\u8bd1\u524d\uff0c\u6700\u597d\u5148\u52a0\u8f7d\u4e00\u4e0b\u73af\u5883<\/h5>\n\n\n\n
source install\/setup.bash\ncolcon build --symlink-install --cmake-args \"-DCMAKE_BUILD_TYPE=Release\"<\/code><\/pre>\n\n\n\n
\u8fd9\u662f\u6700\u8017\u65f6\u7684\u4e00\u6b65\uff0c\u8010\u5fc3\u7b49\u5f85\uff0c\u6211\u4f7f\u7528\u6811\u8393\u6d3e4b\uff084g\uff09\u7f16\u8bd1\u8981\u5341\u51e0\u4e2a\u5c0f\u65f6\u90fd\u4e0d\u6210\u529f\uff0c\u6700\u5927\u7684\u95ee\u9898\u662f\u7206\u5185\u5b58<\/p>\n\n\n\n
\u5982\u679c\u4f60\u7f16\u8bd1\u4e5f\u51fa\u73b0 c++: fatal error: Killed signal terminated program cc1plus<\/mark> \u62a5\u9519\uff0c\u90a3\u5c31\u662f\u4f60\u7684\u7535\u8111\u7684\u7269\u7406\u5185\u5b58(RAM)\u548c\u4ea4\u6362\u7a7a\u95f4(Swap)\u5168\u90e8\u8017\u5c3d\u4e86\uff0c\u4f60\u7684\u7a0b\u5e8f\u88abLinux\u5185\u6838\u7684 OOM Killer (Out-Of-Memory Killer) \u5f3a\u5236\u7ec8\u6b62\u4e86\u3002<\/p>\n\n\n\n
\u4e24\u4e2a\u89e3\u51b3\u65b9\u6cd5\uff1a<\/p>\n\n\n\n
    \n
  • Increase swap space                  \u7f3a\u70b9<\/strong>\uff1a\u589e\u52a0swap\u4f1a\u52a0\u5feb\u4f60\u5185\u5b58\u5361\u5bff\u547d\u635f\u8017\uff0c\u8fd8\u4f1a\u4f7f\u4f60\u7684\u7cfb\u7edf\u53d8\u5361<\/li>\n\n\n\n
  • \u9650\u5236\u7f16\u8bd1\u65f6\u4f7f\u7528\u7684cpu\u6570\u91cf       \u7f3a\u70b9<\/strong>\uff1a\u4f1a\u4f7f\u7f16\u8bd1\u53d8\u5f97\u7279\u522b\u6162<\/li>\n<\/ul>\n\n\n\n
    \u4f7f\u7528apt\u5b89\u88c5\u8fd8\u662f\u6e90\u7801\u7f16\u8bd1\u5b89\u88c5\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u8fdb\u5165\u4e0b\u4e00\u6b65<\/p>\n\n\n\n
    <\/p>\n\n\n\n
    2.\u542f\u52a8\u6444\u50cf\u5934\u7684ros2\u8282\u70b9<\/h3>\n\n\n\n
    rtab\u9700\u8981\u4f60\u8f93\u5165\u6444\u50cf\u5934\uff08rgb\u6216\u8005rgbd\uff09\u4ee5\u53ca\u91cc\u7a0b\u8ba1\uff08odom\uff09\u6570\u636e\uff0c\u6240\u4ee5\u4f60\u9700\u8981\u5148\u6709\u4e00\u4e2a\u8282\u70b9\u6765\u53d1\u5e03\u8fd9\u4e9b<\/p>\n\n\n\n
    \u4ee5t265\u548cd435\u4e3a\u4f8b\uff0c\u5b89\u88c5realsense SDK 2.51.1 \u548crealsense ROS 4.51.1\u7248\u672c \uff08\u6700\u540e\u4e00\u4e2a\u652f\u6301t265\u7684\u7248\u672c\uff0c\u90fd\u9700\u8981\u6e90\u7801\u7f16\u8bd1\u5b89\u88c5\uff09<\/p>\n\n\n\n
    \u6309\u7167~\/ros2_ws\/src\/realsense-ros\/realsense2_camera\/launch\/rs_multi_camera_launch.py\u6765\u5199\u4e00\u4e2alaunch\u540c\u65f6\u542f\u52a8\u4e24\u4e2a\u6444\u50cf\u5934<\/p>\n\n\n\n
    \u8fd9\u91cc\u76f4\u63a5\u7ed9\u51fa<\/p>\n\n\n\n
    import os\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch_ros.actions import Node\nfrom ament_index_python.packages import get_package_share_directory\n\ndef generate_launch_description():\n\n    realsense_ros_dir = get_package_share_directory('realsense2_camera')\n\n    sensors_launch = IncludeLaunchDescription(\n        PythonLaunchDescriptionSource(\n            os.path.join(realsense_ros_dir, 'launch', 'rs_multi_camera_launch.py')\n        ),\n        launch_arguments={\n            # --- D435\/D400 series camera ---\n            'camera_name1': 'D400',            \n            'serial_no1': '_146322077649',     # \u2757 \u5fc5\u987b\u662f\u60a8D435\u7684\u5e8f\u5217\u53f7\n            'depth_module.profile1': '640,480,15',\n            'rgb_camera.profile1': '640,480,15',\n            'enable_depth1': 'true',\n            'align_depth.enable1': 'true',   \n            'pointcloud.enable1': 'true',\n\n            # --- T265 camera ---\n            'camera_name2': 'T265',          \n            'serial_no2': '_230322111176',     # \u2757 \u5fc5\u987b\u662f\u60a8T265\u7684\u5e8f\u5217\u53f7\n            'enable_pose2': 'true',\n            'enable_fisheye12': 'false',\n            'enable_fisheye22': 'false',\n            'publish_odom_tf2': 'true',\n            'topic_odom_in2': 'odom',\n            'pose_frame_id2': 'T265_pose_frame',\n        }.items()\n    )\n\n\n    return LaunchDescription([\n        sensors_launch,\n    ])\n   <\/code><\/pre>\n\n\n\n
    \u8fd9\u91cc\u542f\u52a8\u4e86d435\u548ct265,\u770b\u5230\u4ee5\u4e0b\u8bdd\u9898\u5c31\u8bf4\u660e\u6444\u50cf\u5934\u542f\u52a8\u6210\u529f\u4e86<\/p>\n\n\n\n
    cennum@cennum-ubuntu:~\/fly_ws$ ros2 topic list \n\/D400\/aligned_depth_to_color\/camera_info\n\/D400\/aligned_depth_to_color\/image_raw\n\/D400\/aligned_depth_to_color\/image_raw\/compressed\n\/D400\/aligned_depth_to_color\/image_raw\/compressedDepth\n\/D400\/aligned_depth_to_color\/image_raw\/theora\n\/D400\/color\/camera_info\n\/D400\/color\/image_raw\n\/D400\/color\/image_raw\/compressed\n\/D400\/color\/image_raw\/compressedDepth\n\/D400\/color\/image_raw\/theora\n\/D400\/color\/metadata\n\/D400\/depth\/camera_info\n\/D400\/depth\/color\/points\n\/D400\/depth\/image_rect_raw\n\/D400\/depth\/image_rect_raw\/compressed\n\/D400\/depth\/image_rect_raw\/compressedDepth\n\/D400\/depth\/image_rect_raw\/theora\n\/D400\/depth\/metadata\n\/D400\/extrinsics\/depth_to_color\n\/D400\/extrinsics\/depth_to_depth\n\/D400\/imu\n\/T265\/imu\n\/T265\/pose\/metadata\n\/T265\/pose\/sample\n\/parameter_events\n\/rosout\n\/tf\n\/tf_static<\/code><\/pre>\n\n\n\n
    \u6b64\u65f6\u7684tf\u6811\uff08\u8bf7\u5ffd\u7565base_footprint\uff0c\u8fd9\u4e2a\u662f\u6211\u673a\u5668\u4eba\u4e0a\u9762\u7684\uff09<\/p>\n\n\n\n
    t265\u542f\u52a8\u540e\u4f1a\u53d1\u5e03odom_frame–>T265_pose_frame–>T265_link(D400_link),\u8fd9\u662f\u4e3b\u7ebf<\/p>\n\n\n\n
    odom_frame\u4e3aodom\u91cc\u7a0b\u8ba1\uff0cT265_pose_frame\u4e3at265\u7684\u59ff\u6001<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u73b0\u5728\u53ef\u4ee5\u8fdb\u5165\u4e0b\u4e00\u6b65<\/p>\n\n\n\n
    3.\u542f\u52a8rtabmap\u5e76\u5f00\u59cb\u5efa\u56fe<\/h3>\n\n\n\n
    \u8fd8\u662f\u4f7f\u7528launch\u6765\u542f\u52a8rtabmap\uff0c\u76f4\u63a5\u4e0a\u4ee3\u7801<\/p>\n\n\n\n
    from launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument\nfrom launch.substitutions import LaunchConfiguration\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n    use_sim_time = LaunchConfiguration('use_sim_time')\n    \n    rtabmap_common_params = {\n        'frame_id': 'D400_link',   #\u8fd9\u91cc\u662f\u5bf9\u5e94d435\u76f8\u673a\n        'odom_frame_id': 'odom_frame', #\u8fd9\u91cc\u662fodom\uff0c\u4e0e\u4e0a\u9762\u4ee3\u7801\u4e2d\u76f8\u673a\u53d1\u5e03\u7684odom\u8981\u4e00\u81f4\n        'subscribe_depth': True,\n        'subscribe_rgb': True,\n        'subscribe_odom_info': False,\n        'approx_sync': True,\n        'approx_sync_max_interval': 0.1,\n        'wait_for_transform': 0.2,\n        'use_sim_time': use_sim_time,\n        'Rtabmap\/DetectionRate': '2',\n        'Vis\/MinInliers': '10',\n        'Grid\/CellSize': '0.05',\n    }\n\n    # \u8981\u4e0e\u4e0a\u9762\u76f8\u673a\u53d1\u5e03\u7684\u8bdd\u9898\u5bf9\u5e94\n    rtabmap_remaps = [\n        ('rgb\/image', '\/D400\/color\/image_raw'),\n        ('rgb\/camera_info', '\/D400\/color\/camera_info'),\n        ('depth\/image', '\/D400\/aligned_depth_to_color\/image_raw'),\n        ('odom', '\/T265\/pose\/sample'),\n    ]\n\n    return LaunchDescription([\n        DeclareLaunchArgument(\n            'use_sim_time', \n            default_value='False',\n            description='Use simulation (Gazebo) clock if true'),\n\n        Node(\n            package='rtabmap_slam',\n            executable='rtabmap',\n            name='rtabmap',\n            parameters=[rtabmap_common_params],\n            remappings=rtabmap_remaps,\n            output='screen',\n        ),\n\n        Node(\n            package='rtabmap_viz',\n            executable='rtabmap_viz',\n            name='rtabmap_viz',\n            parameters=[rtabmap_common_params],\n            remappings=rtabmap_remaps,\n            output='screen',\n        )\n    ])<\/code><\/pre>\n\n\n\n
    4.\u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4\uff0c\u8fd0\u884claunch<\/h3>\n\n\n\n
    \u56de\u5230\u5de5\u4f5c\u7a7a\u95f4\u8ddf\u76ee\u5f55\u7f16\u8bd1<\/p>\n\n\n\n
    colcon build --symlink-install<\/code><\/pre>\n\n\n\n
    \u4f9d\u6b21\u542f\u52a8\u4e0a\u9762\u7684\u4fe9\u4e2alaunch\u6587\u4ef6<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u51e0\u4e2a\u753b\u9762\u90fd\u663e\u793a\u5c31\u662f\u6210\u529f\u4e86\uff0c\u4e0d\u60f3\u62ff\u8d77\u6765\u5c31\u4e0d\u6f14\u793a\u4e86<\/p>\n\n\n\n
    5.\u5efa\u56fe\u5b8c\u6210\uff0c\u4fdd\u5b58\u5e76\u5bfc\u51fa<\/h3>\n\n\n\n
    5.1 \u4fdd\u6301\u4e3a.db\u6570\u636e\u5e93\u6587\u4ef6 <\/h5>\n\n\n\n
    \u76f4\u63a5ctrl+c\u5173\u95ed\uff0c\u5730\u56fe\u6700\u9ed8\u8ba4\u4fdd\u5b58\u5728~\/.ros\/rtabmap.db<\/p>\n\n\n\n
    5.2 \u5bfc\u51fa\u7528\u4e8eNav2\u5bfc\u822a\u76842d\u67f5\u683c\u5730\u56fe<\/h5>\n\n\n\n
    \u4f7f\u7528ROS 2\u5185\u7f6e\u7684 map_saver<\/strong> \u5de5\u5177\uff0c\u4e0d\u8981\u5173\u95ed\u6b63\u5728\u8fd0\u884c\u7684\u6240\u6709\u8282\u70b9\uff0c\u6253\u5f00\u65b0\u7684\u7ec8\u7aef\uff0c\u8fd0\u884c<\/p>\n\n\n\n
    ros2 run nav2_map_saver map_saver_cli -f ~\/my_map<\/code><\/pre>\n\n\n\n
    \u8fd9\u4e2a\u547d\u4ee4\u4f1a\u751f\u6210Nav2\u5bfc\u822a\u9700\u8981\u7528\u5230\u7684.pgm\u548c.yaml\u6587\u4ef6<\/p>\n\n\n\n
    -f ~\/my_map\uff1a\u6307\u5b9a\u4fdd\u5b58\u8def\u5f84<\/p>\n\n\n\n
    5.3 \u5bfc\u51fa3D\u70b9\u4e91\u5730\u56fe<\/h5>\n\n\n\n
    \u5982\u679c\u4f60\u60f3\u4f7f\u7528\u5176\u4ed63D\u8f6f\u4ef6\u67e5\u770b\uff08\u5982 CloudCompare\u3001MeshLab\uff09\u53ef\u4ee5\u5bfc\u51fa\u4e3a\u70b9\u4e91\u683c\u5f0f\uff08\u5982 .pcd \u6216 .ply\uff09<\/p>\n\n\n\n
    \u4f7f\u7528rtabmap\u63d0\u4f9b\u7684\u6570\u636e\u5e93\u67e5\u770b\u5de5\u5177\uff0c\u5efa\u56fe\u5b8c\u6210\u540e\u5173\u95ed\u6240\u6709\u8282\u70b9\uff0c\u5730\u56fe\u4f1a\u81ea\u52a8\u4fdd\u5b58\u5728~\/.ros\/rtabmap.db<\/p>\n\n\n\n
    \u5728\u7ec8\u7aef\u4e2d\u6253\u5f00rtabmap\u6570\u636e\u5e93\u67e5\u770b\u5668<\/p>\n\n\n\n
    rtabmap-databaseViewer ~\/.ros\/rtabmap.db<\/code><\/pre>\n\n\n\n
    \u5728\u8fd9\u4e2a\u5de5\u5177\u91cc\u9762\u67e5\u770b\u4f60\u7684\u5730\u56fe\u6216\u8005\u9009\u62e9\u4f60\u8981\u4fdd\u5b58\u7684\u683c\u5f0f<\/p>\n\n\n\n
    <\/p>\n","protected":false},"excerpt":{"rendered":"
    \u672c\u6587\u7ae0\u6f14\u793a\u4ece\u6e90\u7801\u7f16\u8bd1rtabmap\uff0c\u5e76\u4e14\u914d\u5408int …<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2,30],"tags":[],"class_list":["post-557","post","type-post","status-publish","format-standard","hentry","category-linux","category-ros2"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/557","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=557"}],"version-history":[{"count":6,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/557\/revisions"}],"predecessor-version":[{"id":566,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/557\/revisions\/566"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=557"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=557"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=557"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}