Re: RTAB-Map on Jetson Nano

Posted by MakeMeMaps_JetsonNano on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Jetson-Nano-tp5875p5912.html

Well i found my single command SUCCESS!

FROM ros:kinetic-ros-base
# install rtabmap packages
RUN apt-get update && apt-get install -y \
    libfreenect-dev \
    ros-kinetic-freenect-launch \
    && echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc \
    && rm -rf /var/lib/apt/lists/
CMD ["roslaunch","freenect_launch","freenect.launch", "depth_registration:=true"]

I used this docker file and run it with --net=host --privileged
I don't think i need to synchronize the clocks of the container and host (this might be a problem on mac os)

here is rgbd handheld example


Well now it breaks my rosserial communication when i try to visualize with rviz and the robot moves erratically i could try increasing the buffer size or lowering the hz but i would like to use the remote visualization with the compressed images,
instead of ssh -X the whole rviz, can i only the hz's of the compressed image without affecting the hz of the kinect?

Anyway thank you,
cheers
Panagiotis