On your host system place this udev rule in /etc/udev/rules.d
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.
Yeah those are all normal warnings. The long one will go away once you do the File > Save config I mentioned.