必要なもの
realsense2_camera: Follow the installation guide in: https://github.com/intel-ros/realsense.
imu_filter_madgwick: sudo apt-get install ros-kinetic-imu-filter-madgwick
rtabmap_ros: sudo apt-get install ros-kinetic-rtabmap-ros
robot_localization: sudo apt-get install ros-kinetic-robot-localization
色々記載したが，Reconstruction systemを用いたものが一番良かった．
rosbagデータの保存
roslaunch realsense2_camera opensource_tracking.launch
rosbag record -O my_bagfile_1.bag /camera/aligned_depth_to_color/camera_info camera/aligned_depth_to_color/image_raw /camera/color/camera_info /camera/color/image_raw /camera/imu /camera/imu_info /tf_static
点群データへの書き出し
roscore >/dev/null 2>&1 &
rosparam set use_sim_time true
rosbag play my_bagfile_1.bag --clock
roslaunch realsense2_camera opensource_tracking.launch offline:=true
rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map