Ubuntu16.04，ROS kinetic
1.在ROS中安裝rtabmap_ros包
sudo apt-get install ros-kinetic-rtabmap-ros
2. RGB-D相機實時建圖
啟動相機
realsense：
roslaunch realsense2_camera rs_camera.launch align_depth:=true
Xtion：
roslaunch openni2_launch openni2.launch depth_registration:=true
如沒有安裝Xtion驅動，參考Ubuntu 16.04 ROS-kinetic安裝華碩Xtion Pro Live驅動
3. 建圖模式——兩種在線可視化方式：rtabmapviz或者rviz。
(1) Launch (rtabmapviz): rtabmap.launch
For RealSense D435：
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info
For freenect, openni and openni2:
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"
(2)Launch (rviz):
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false
參考文獻：
- Source: git https://github.com/introlab/rtabmap_ros.git (branch: kinetic-devel)
- http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
- http://www.linuxdiyf.com/linux/32962.html