Ubuntu16.04，ROS kinetic
1.在ROS中安装rtabmap_ros包
sudo apt-get install ros-kinetic-rtabmap-ros
2. RGB-D相机实时建图
启动相机
realsense：
roslaunch realsense2_camera rs_camera.launch align_depth:=true
Xtion：
roslaunch openni2_launch openni2.launch depth_registration:=true
如没有安装Xtion驱动，参考Ubuntu 16.04 ROS-kinetic安装华硕Xtion Pro Live驱动
3. 建图模式——两种在线可视化方式：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
参考文献：
- 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