#RTABMAP#
alias rtabmap_d455='cd ~/capstone_ws/ && source devel/setup.bash && rospack find realsense2_camera && roslaunch realsense2_camera d455_rtabmap.launch'
alias rtabmap_imu='rospack find imu_filter_madgwick && rosrun imu_filter_madgwick imu_filter_node _use_mag:=false _publish_tf:=false _world_frame:="enu" /imu/data_raw:=/camera/imu /imu/data:=/rtabmap/imu'
alias rtabmap_mapping='cd ~/capstone_ws/ && source devel/setup.bash && rospack find rtabmap_ros && roslaunch rtabmap_ros rtabmap.launch'
alias rtabmap_localization='cd ~/capstone_ws/ && source devel/setup.bash && rospack find rtabmap_ros && roslaunch rtabmap_ros rtabmap_localization.launch'
alias rt_cm='catkin_make -j4 -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON'
