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.

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.