ROS 视觉建图不显示点云

news2024/11/18 9:45:10

I 乐视摄像头找不到彩色输出（供参考）

1.安装依赖

sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros

2.进入ROS摄像机目录

cd /home/wheeltec/wheeltec_robot/src/ros_astra_camera/

sudo sh ./scripts/create_udev_rules

如果遇到 rospack: not found

sudo apt install rospack-tools

cd /home/wheeltec/wheeltec_robot/src/ros_astra_camera


sudo sh ./scripts/create_udev_rules

3.编译

wheeltec@wheeltec:~/wheeltec_robot$ catkin_make

4.修改launch

<node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen" 	/>
<param name="width" type="int" value="320" />
<param name="height" type="int" value="240" />
<param name="fps" type="int" value="30" />
<param name="frame" type="string" value="wide_stereo" />

<param name="auto_focus" type="bool" value="False" />
<param name="focus_absolute" type="int" value="0" />
<!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->

<param name="device" type="string" value="/dev/video2" /> 
<param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />

添加位置/home/wheeltec/wheeltec_robot/src/ros_astra_camera/launch/astra.launch

5.source

cd /home/wheeltec/wheeltec_robot


source devel/setup.bash

roslaunch astra_camera astra.launch

6,rviz

以上作废，可后续参考相关

II.纯视觉建图,ubuntu点云不显示，但是RVIZ添加正常,

原因：软件版本不匹配,打开树莓派即可看见点云

Ubuntu：

raspberry:

设置UBUNTU和RASPBERRY ROS源相同，并更新，

$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt-get update && sudo apt-get upgrade

sudo apt-get upgrade

sudo apt-get install ros-melodic-rtabmap*

之后

UBUNTU