phase_rtabmap_ros2

Demonstration of mapping with Phase camera in ROS2 humble. This package is tested on Ubuntu 22.04.

Install pyphase

Install pyphase, follow Linux instruction from the link below

https://github.com/i3drobotics/pyphase

Build ROS2 workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
git clone --branch humble https://github.com/ros-perception/image_common.git src/ros-perception/image_common
git clone --branch humble https://github.com/ros-perception/image_pipeline.git src/ros-perception/image_pipeline
git clone https://github.com/introlab/rtabmap.git  src/rtabmap
git clone --branch humble-devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
git clone --branch humble-devel https://github.com/i3drobotics/phase_rtabmap_ros2.git src/phase_rtabmap_ros2
sudo apt-get update
rosdep update && rosdep install --from-paths src --ignore-src -r -y
export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
. install/setup.bash

Run RTabmap Scan

ros2 launch phase_rtabmap_ros2 phase_rtabmap_launch.py 

Optional launch arguments when use different camera or exposure value

ros2 launch phase_rtabmap_ros2 phase_rtabmap_launch.py left_serial:=23638717 right_serial:=23638711 camera_name:=Basler acA2440-35uc device_type:=phobos interface_type:=usb exposure:=25000

Save video of the camera

ros2 run phase_rtabmap_ros2 phase_camera_record_launch.py left_serial:=23638717 right_serial:=23638711 camera_name:=Basler acA2440-35uc device_type:=phobos interface_type:=usb exposure:=25000

Update calibration yaml file

Calibration yaml files are needed to store in phase_rtabmap_ros2/cal folder before build Need to check or rename if yaml files are in the name of "left.yaml" and "right.yaml"

Troubleshoot for GigE network configuration

For Network Configuration, see the link below for troubleshooting

https://docs.baslerweb.com/network-configuration-(gige-cameras)