D455 + SLAM using Ros2
I have installed ros2 on my raspberry pi 4, with the foxy version of ros2.
I am trying to perform SLAM, however I cant find any real documentation on this with ros2. The only tutorials/codes there are for hand-held mapping/ SLAM are for ros1.
I have tried :
ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true initial_reset:=true
ros2 launch slam_toolbox online_sync_launch.py
and trying to show it in rviz2.
The output of /map is always nothing.
I have also tried using:
ros2 launch depthimage_to_laserscan depthimage_to_laserscan-launch.py
but I'm not sure how to do SLAM with d455, there doesnt seem to be any real tutorials on this.
Any help would be greatly appreciated. Thanks.
-
Of the limited number of available information resources about using SLAM with RealSense and ROS2, they have typically involved using a combination of slam_toolbox and depthimage_to_laserscan, as described at the link below.
https://github.com/IntelRealSense/realsense-ros/issues/2387
As you have already been using both slam_toolbox and depthimage_to_laserscan, it sounds as though you are on the right track. Performing SLAM with RealSense is typically more complicated on ROS2 though than it is with ROS1 and there is not a simple all-in-one tutorial guide for doing so, unfortunately.
I would also recommend not using Raspberry PI for RealSense SLAM if possible as there are sometimes issues with accessing the RealSense IMU on Pi (depth and color work).
-
If you need to use a Pi in your SLAM project then you could consider a SLAM tool that can work with RealSense cameras without needing an IMU, such as ORB-SLAM3
Please sign in to leave a comment.
Comments
2 comments