See paper: Spatial strawberry detection for fruit quality assessment
cd scripts
python3 record.py
./convert.bash
roslaunch oakd replay_publisher.launch
roslaunch oakd depthimage_to_laserscan.launch
roslaunch oakd gmapping.launch
without odometry try (didn't seem to work reliably):
roslaunch oakd laser_scan_match.launch
http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
roslaunch oakd replay_publisher.launch
roslaunch rtabmap_launch rtabmap.launch args:="--delete_db_on_start" rgb_topic:=/replay_publisher/color/image depth_topic:=/replay_publisher/stereo/depth camera_info_topic:=/replay_publisher/color/camera_info frame_id:=oak-d_frame approx_sync:=true wait_imu_to_init:=false visual_odometry:=false odom_topic:=/odom
rosrun imu_filter_madgwick imu_filter_node imu/data_raw:=/imu imu/data:=/replay_publisher/imu/data _use_mag:=false _publish_tf:=false