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davidmball / ratslam

Automatically exported from code.google.com/p/ratslam
GNU General Public License v3.0
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How to run openratslam with usb camera #12

Closed sunt40 closed 5 years ago

sunt40 commented 5 years ago

Hello Dr ball,I want to know how to run your code with usb camera.I want to map indoor environment.Could you help me ?

scott-- commented 5 years ago

Have a look here https://github.com/davidmball/ratslam/blob/wiki/RatSLAMROS.md at "Using Custom Bag Files (or Real Robots)"

You will probably also need something like this for a USB camera. https://github.com/ros-drivers/libuvc_ros

sunt40 commented 5 years ago

@scott-- I have written my own config file and launch file.For example,I(or a robot) take my laptop and move around the room,how to use the openratslam to generate a map?

scott-- commented 5 years ago

Once you run OpenRatSLAM, you need another node to publish JPEG images on: /<topic_root>/camera/image/compressed where matches the 'topic_root' in the config file.

I think that you can use libuvc_ros for that, but I have not used it myself, so I can't help you with that.

You can also have a look at the provided datasets here (https://wiki.qut.edu.au/display/cyphy/OpenRatSLAM+datasets) if you just want to see an example of OpenRatSLAM working.

sunt40 commented 5 years ago

@scott-- OK.Thanks for your patience.