ROS+RGBD-SLAM V2 +RealsenseD415

一、下载Github源码

#Prepare Workspace
source /opt/ros/kinetic/setup.bash
mkdir -p rgbdslam_catkin_ws/src
cd rgbdslam_catkin_ws/src
catkin_init_workspace
cd rgbdslam_catkin_ws
catkin_make
source devel/setup.bash

#Get RGBDSLAM
cd /rgbdslam_catkin_ws/src
wget -q http://github.com/felixendres/rgbdslam_v2/archive/kinetic.zip
unzip -q kinetic.zip
cd /rgbdslam_catkin_ws/

#安装依赖
sudo apt-get install libvtk6-dev libdevil-dev 
sudo aptitude install libdevil-dev 

#Install
rosdep update
rosdep install rgbdslam
catkin_make 

需要将工作空间的路径加到 .bashrc 文件中：

source devel/setup.bash
source /home/hong/ROS/rgbdslam_catkin_ws/devel/setup.bash
echo "source /home/hong/ROS/rgbdslam_catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

二、数据集测试
1.下载rgbd_dataset_freiburg1_desk.bag，放到src下
2.对rgbdslam_catkin_ws/src/rgbdslam/rgbdslam.launch进行修改：
将rgbdslam.launch中的

<param name="config/topic_image_mono"              value="/camera/rgb/image_color"/> 
<param name="config/topic_image_depth"             value="/camera/depth_registered/sw_registered/image_rect_raw"/>

改成数据集的路径

    <param name="config/topic_image_mono"              value="/camera/rgb/image_color"/> 
    <param name="config/topic_image_depth"             value="/camera/depth/image"/>

3.打开终端，运行roscore
4.新开终端：

source devel/setup.bash
roslaunch rgbdslam rgbdslam.launch

5.新开终端，进入存放数据集的文件夹，输入命令：

rosbag play rgbd_dataset_freiburg1_desk.bag

三、使用rviz查看数据集
1.打开终端，运行roscore
2.使用rosbag info+Tab键可查找数据包，查看数据集信息： rosbag info rgbd_dataset_freiburg1_desk.bag
3.新开终端：rosbag play rgbd_dataset_freiburg1_desk.bag
4.同时新开终端，查看发布的topic：rostopic list
5.打开rviz，点击add->topic，找到发布的topic，可以动态显示数据流：rosrun rviz rviz

四、错误处理
处理1： 遇到了“required process[rgbdslam-2] has died”…Iinitiating down问题
主要是由于rgbdslam依赖库g2o和pcl不兼容引起的。解决方法源网址： https://hubpages.com/technology/Instructions-for-compiling-rgbdslam-v2-on-a-fresh-Ubuntu-1604-install-ros-kinetic-in-virtualbox

解决方法：
1.如果你之前已经安装了g2o，请将其卸载，卸载方法如下：
（1）删除/usr/local/include/g2o，指令为sudo rm -rf /usr/local/include/g2o；
（2）删除/usr/local/lib下有关libg2o_*.so的库文件，sudo rm -rf libg2o_*.so

2.下载Eigen3库到rgbdslam_vs/src目录下

cd rgbdslam_catkin_ws/src
wget http://bitbucket.org/eigen/eigen/get/3.2.10.tar.bz2
mkdir eigen
tar -xvjf 3.2.10.tar.bz2 -C eigen --strip-components 1

3.下载rgbdslam作者的g2o，使用上面下载的eigen3.2配置g2o，编辑g2o包下的cmakelists.txt文件，将第251行

SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3")
改成
SET(G2O_EIGEN3_INCLUDE $"Eigen3的绝对路径" CACHE PATH "Directory of Eigen3")

cmake编译

    git clone https://github.com/felixendres/g2o.git
    cd g2o
    mkdir build
    cd build
    cmake ..
    make 
    sudo make install

4.下载PCL1.8并修改其cmakelist.txt

wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
tar -xvzf pcl-1.8.0.tar.gz
修改cmakelist.txt，在其第146行加入并保存,(right after endif())
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

编译PCL1.8

cd pcl
mkdir build
cd build
cmake ..
make VERBOSE=1 -j8
sudo make install 

5.修改rgbdslam_v2的CMakeLists.txt：

将find_package(PCL 1.7 REQUIRED COMPONENTS common io) 改为 find_package(PCL 1.8 REQUIRED COMPONENTS common io)
然后catkin_make

处理2： 删除了一个ROS包以后终端显示没有bash文件
bash: /home/yaoyao/wsyros/devel/setup.bash: No such file or directory
打开终端gedit ~/.bashrc进入编辑状态，删除多余的setup.bash 文件的配置保存。

五、 使用Realsense D415相机
1.修改，在/home/hong/ROS/rgbdslam_catkin_ws/src/rgbdslam_v2-kinetic/rgbdslam.launch添加：

<!-- remap to realsense -->
<remap from="/camera/depth/camera_info" to="/camera/aligned_depth_to_color/camera_info"/>
<remap from="/camera/depth/image" to="/camera/aligned_depth_to_color/image_raw"/>
<remap from="/camera/rgb/camera_info" to="/camera/color/camera_info"/>
<remap from="/camera/rgb/image_color" to="/camera/color/image_raw"/>
<!-- lack of topic /cortex_marker_array & /imu -->

2.运行：

roscore
roslaunch rgbdslam rgbdslam.launch
#rostopic #list查看topic
#rqt_image_view #快速查看图像
roslaunch realsense2_camera rs_rgbd.launch

六、 还有一种安装方式（未测试）：
安装好ros后，直接执行install.sh就可以完整的安装 rgbd slam v2 了。进入下载 install.sh的地方，执行：bash install.sh自动执行安装过程，中间只需要点个enter或yes就OK了。

参考自：
https://www.cnblogs.com/williamc17/p/9319727.html
https://blog.youkuaiyun.com/weixin_44350238/article/details/103630188
https://blog.youkuaiyun.com/zhuoyueljl/article/details/78536996
https://blog.youkuaiyun.com/u011178262/article/details/83046256
https://blog.youkuaiyun.com/qq_29828623/article/details/60765043
https://www.cnblogs.com/voyagee/p/6898278.html
https://blog.youkuaiyun.com/jialing678/article/details/85940462
https://blog.youkuaiyun.com/jialing678/article/details/85945985
http://www.guyuehome.com/860