Intel Realsense is greyed out

[Zumbalamambo]

I have installed RTABMAP through ROS-Noetic. The version of RTABMAP that I have installed is v20.7. For some reason, the intel realsense is greyed out both in the setting as well in the RGB-D Menu. Do I need to install any other dependencies?

[matlabbe]

If you use realsense with realsense ros package, you don't need to enable it in rtabmapviz.

However, if you want to use rtabmap standalone version with realsense driver, you have to rebuild rtabmap from source. Make sure after you do cmake .., you see With RealSense2 = YES. Make sure to uninstall rtabmap binaries to avoid possible mismatch library version issues afterwards.

$ sudo apt remove ros-noetic-rtabmap

$ cd ~
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake .. 
# Verify "--   With RealSense2           = YES (License: Apache-2)"
$ make
$ sudo make install

[Zumbalamambo]

@matlabbe thank you! Is it possible to install rtabmap with realsense in nano kit?

[matlabbe]

The standalone won't work out of the box (see this long issue). However, if you want to use RVIZ for visualization, the rtabmap binaries will work out of the box.

[Zumbalamambo]

thank you! :) just one last question, if I install RTABMap in windows, do I still have to build from source to be able to use rtabmap with realsense, or does it comes bundled with the realsense libraries?

[matlabbe]

The binaries are bundled with realsense2 support, see https://github.com/introlab/rtabmap/releases

[Zumbalamambo]

thank you!!!