FINAL/run_rtab.txt at master · SLAMid/FINAL · GitHub

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RGB SLAM
--------
1) Open a terminal
2) Enter "roscore"
3) Open another terminal
4) Enter "roslaunch rtabmap_ros rgbd_mapping_kinect2.launch"
5) Open another terminal
6) Enter "source ~/catkin_ws/devel/setup.bash"
7) Enter "rosrun kinect2_bridge kinect2_bridge _depth_method:=opengl _reg_method:=cpu _publish_tf:=true"

MONO SLAM
---------
1) Open a terminal
2) Enter "roscore"
3) Open another terminal
4) Enter "rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100"
5) Open another terminal
6) Enter "roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_mono_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info"
7) Open another terminal
8) Enter "rosrun kinect2_bridge kinect2_bridge _depth_method:=opengl _reg_method:=cpu _publish_tf:=true"


Final
------
1) roscore
2) rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100
2.5) source ~/catkin_ws/devel/setup.bash
3) rosrun kinect2_bridge kinect2_bridge _depth_method:=opengl _reg_method:=cpu _publish_tf:=true
3.5) source ~/tfpy2/bin/activate
3.7) source ~/catkin_ws/devel/setup.bash
4) rosrun mask_rcnn_ros mask_rcnn_node
4.5) source /opt/ros/kinetic/setup.bash
5) ROS_NAMESPACE=/kinect2/seg rosrun image_proc image_proc
5.5) source ~/catkin_ws/devel/setup.bash
6) roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/seg/image_raw depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/seg/camera_info wait_for_transform:=0.5

//just for image
cd catkin_ws
catkin_make
//ros run in other term
rviz

for the gui in term open up to this location
1) cd /home/dan/catkin_ws/src/mask_rcnn_ros/nodes
2) http-server --cors
3) go to broswer open script.html


source /opt/ros/kinetic/setup.bash