Stereo Outdoor

sketchfab

Stereo Outdoor Mapping is a tutorial that demonstrates how to use the RTAB-Map package on ROS (Robot Operating System) for real-time mapping and localization of mobile robots with stereo cameras. The tutorial covers the following topics: 1. Installing required packages, including RTAB-Map and OpenCV. 2. Configuring the camera parameters and setting up a stereo rig. 3. Running the RTAB-Map node and publishing the map data. 4. Visualizing the map using rviz. System Requirements: * ROS Indigo or higher * Ubuntu 14.04 or higher * RTAB-Map package (available on ROS wiki) * OpenCV package (available on ROS wiki) Hardware Requirements: * Two cameras with a baseline of at least 50mm Software Installation: 1. Install the required packages using apt-get: ``` sudo apt-get install ros-indigo-rtabmap-ros sudo apt-get install libopencv-dev ``` 2. Source the ROS environment variables: ```bash source /opt/ros/indigo/setup.sh ``` Configuring the Camera Parameters: 1. Create a new file called `stereo_params.yaml` in the `config` directory of your ROS package. 2. Add the following parameters to the file: ``` camera_model: stereo baseline: 50mm ``` 3. Save and close the file. Setting Up the Stereo Rig: 1. Connect two cameras to the robot's computer using USB cables or other methods supported by the camera drivers. 2. Configure the camera settings to match the `stereo_params.yaml` file. Running RTAB-Map: 1. Launch the RTAB-Map node: ```bash rosrun rtabmap_ros rtabmap --ros-args --params-file config/stereo_params.yaml ``` 2. Publish the map data using the following command: ``` rosnode pub /map geometry_msgs/TwistStamped '{header: {stamp: now, frame_id: "world"}, twist: {linear: {x: 0.5, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}}' ``` 3. Visualize the map using rviz: ```bash rosrun rtabmap_ros rviz ``` Troubleshooting: * Check the ROS logs for any errors or warnings. * Verify that the camera settings are correct and the stereo rig is properly configured. Note: This tutorial assumes you have basic knowledge of ROS, C++, and Linux.