Realsense D455 & RPLiDAR A1

[Sugiura-Tomoki]

Hi. I would like to run rtabmap using Realsense D455 and RPLiDAR A1. Where do I need to edit rtabmap.launch? Thank you.

[matlabbe]

You don't have to edit rtabmap.launch directly, include it in a new launch file like this:

<launch>

  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="args" value="--delete_db_on_start"/>
    <arg name="subscribe_scan" value="true"/>
    <arg name="scan_topic" value="/scan"/>
    <arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/>
    <arg name="rgb_topic" value="/camera/color/image_raw"/>
    <arg name="camera_info_topic" value="/camera/color/camera_info"/>
    <arg name="rgbd_sync" value="true"/>
    <arg name="approx_rgbd_sync" value="false"/>
  </include>

</launch>

Assuming you launch realsense with depth_aligned:=true, and your lidar topic is named /scan (adjust if not)