RTAB-Map with librealsense v1

README.md

RTAB-Map with librealsense v1

On your host system place this udev rule in /etc/udev/rules.d

https://raw.githubusercontent.com/IntelRealSense/librealsense/refs/tags/v1.12.4/config/99-realsense-libusb.rules

Install distrobox along with either podman or docker (Rootless podman is cleanest but will work with less setup if you already have docker running)

https://github.com/89luca89/distrobox?tab=readme-ov-file#installation

Then we can create a container with the official rtabmap image

distrobox create --image docker.io/introlab3it/rtabmap:jammy

Enter the new container

distrobox enter rtabmap-jammy

Source the ROS environment and create a working directory

source /opt/ros/humble/setup.bash
mkdir R200
cd R200

Clone and build librealsense at the latest v1 tag (v2 dropped support for the old sensors including the R200)

git clone https://github.com/IntelRealSense/librealsense
cd librealsense
git checkout v1.12.4
mkdir build
cd build
cmake ..
make -j8
sudo make install 
cd ../..

Clone and build RTAB-Map

git clone https://github.com/introlab/rtabmap.git 
cd rtabmap/build
cmake ..

At this point make sure the compile output says it's building the Realsesne 1 support (should automatically pick up what we installed earlier)

Assuming that's found

make -j8
sudo make install

Now you can run rtabmap

Go to Detection > Select source > RGB-D > R200 > Check RealSense

File > Save Config so you don't have to do this again

File > New Database

Click the play button

If all goes well, you should start mapping with real-time SLAM!

Click stop to stop and visualize the capture.

Semi related... Installing Docker on Linux Mint 21.3 requires this patch to the docker install
https://forums.linuxmint.com/viewtopic.php?p=2495607&sid=4e703091fdbc5f239414f0bc24217879#p2495607
I wanted to setup docker on this machine for other projects, and realized I hadn't done it yet.

After the command:
distrobox create --image docker.io/introlab3it/rtabmap:jammy
I got this message...

Just making a note...

Yeah that's how it works. It shares home so you still have access to your files and can use them outside of the container (RTAB-Map writes to Documents)

distrobox enter rtabmap-jammy
Error response from daemon: Mounts denied: 
The path /tmp is not shared from the host and is not known to Docker.
You can configure shared paths from Docker -> Preferences... -> Resources -> File Sharing.

Followed the prompts in Docker Desktop Dashboard and now I get:

Error response from daemon: path /tmp is mounted on / but it is not a shared or slave mount

Hmm... the 'tubes' don't seem to know why that would be the case, other than a lot of complaining about things like it happening after updates and there is a mention of this issue under WIndows here:
89luca89/distrobox#1386
Oh, nevermind, here it is:
89luca89/distrobox#1613
https://github.com/89luca89/distrobox/blob/main/docs/compatibility.md#non-shared-mounts
but after I've done sudo mount --make-rshared / NOW I get

Error response from daemon: path /sys is mounted on /sys but it is not a shared or slave mount

which is the example they said it will fix. LOL.
Ok, that's enough for one night... I'll keep messing with it later.

Weird...

Ok, well, I've restarted, searched high and low, and tried the suggested fixes... same issue
89luca89/distrobox#192
So I guess I'm moving on to trying podman ?

Mint 21 is Ubuntu 22.04 right? We could do the Humble ROS repo install like we were trying on the Jetson...

Not sure why docker is having so many issues. Podman may work not sure.

Seems to have installed nicely with apt-get -y install podman and the simple test:
podman run --name basic_httpd -dt -p 8080:80/tcp docker.io/nginx
seems to have worked. And I was able to stop it and remove it.

How does distrobox know which one to use between podman and docker?

You can just remove Docker at this point and it will use Podman

Finally got the container up and working. /opt/ros/ etc... exists and so on. Got a bunch of " warning "_BSD_SOURCE and _SVID_SOURCE are deprecated, use _DEFAULT_SOURCE" on the make, but that's no big.

Under Clone and build RTAB-Map you have git clone twice.

In the build output, I see

...
-- Found RealSense: /usr/local/include
-- Found RealSense2:
...
--   With RealSense            = YES (License: Apache-2)
--   With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)
--   With RealSense2 2.55.1    = YES (License: Apache-2)
...

So no mention of Realsense 1 but hopefully Realsense is Realsense 1? Anyway, I continued with the make and the make install. rtabmap seems to run, but I get a lot of error messages, not sure if they matter:

Gtk-Message: 20:26:52.229: Failed to load module "xapp-gtk3-module"
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ WARN] (2025-01-19 20:27:12.365) Parameters.cpp:1281::readINIImpl() Section "Core" in /home/jamesnewton/.rtabmap/rtabmap.ini doesn't exist... Ignore this warning if the ini file does not exist yet. The ini file will be automatically created when rtabmap will close.
Program started...
failed to create drawable

And now I can't remember where I set down the damn scanner. LOL. I'll find it after dinner.

So I did! Thanks.

Yeah you got there. Sweet!

Yeah those are all normal warnings. The long one will go away once you do the File > Save config I mentioned.