首先按照前篇文章实现Kinect V2的驱动安装

https://blog.****.net/qq_41906592/article/details/112231524?spm=1001.2014.3001.5501

１.安装Rtabmap_ROS

sudo apt-get install ros-kinetic-rtabmap-ros

２.运行测试

（１）启动kinect

roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

出现下面的显示说明运行成功。

 (2)执行tf

rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100

(3)启动rtabmap

分别对应sd/qhd/hd三种清晰度，分别为640*480/960*540/1920*1080

sd对应的是红外镜头kinect2_ir_optical_frame

qhd和hd对应的彩色镜头kinect2_rgb_optical_frame

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/sd/image_color_rect depth_topic:=/kinect2/sd/image_depth_rect camera_info_topic:=/kinect2/sd/camera_info 

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd(hd)/image_color_rect depth_topic:=/kinect2/qhd（hd）/image_depth_rect camera_info_topic:=/kinect2/qhd（hd）/camera_info

(4)使用rviz

rosrun rviz rviz

当Rviz打开以后，将Fixed Frame更改为kinect2_link,点击Add按钮添加PointCloud2,展开PointCloud2后，将Topic改为/kinect2/sd/points就可以看到点云信息。

(5)3D点云地图的保存

rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map