Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version jazzy-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version kilted-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version rolling-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

Package Summary

Version 0.21.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version foxy-devel
Last Updated 2023-04-09
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README
No README found. See repository README.
CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

Package Summary

Version 0.21.5
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version iron-devel
Last Updated 2024-07-01
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README
No README found. See repository README.
CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

Package Summary

Version 0.22.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-07-13
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data


The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true

CHANGELOG
No CHANGELOG found.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rtabmap_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange

Package Summary

Version 0.21.13
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version noetic-devel
Last Updated 2025-04-27
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RTAB-Map's main launch files.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README
No README found. See repository README.
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/data_recorder.launch
      • subscribe_odometry [default: false]
      • subscribe_depth [default: true]
      • subscribe_stereo [default: false]
      • subscribe_rgbd [default: false]
      • subscribe_scan [default: false]
      • subscribe_scan_cloud [default: false]
      • approx_sync [default: false]
      • approx_sync [default: true]
      • frame_id [default: camera_link]
      • odom_frame_id [default: ]
      • ground_truth_frame_id [default: ]
      • ground_truth_base_frame_id [default: ]
      • output_path [default: output.db]
      • record_in_RAM [default: false]
      • queue_size [default: 10]
      • max_rate [default: 0]
      • rgb_topic [default: camera/rgb/image_rect_color]
      • rgb_info_topic [default: camera/rgb/camera_info]
      • depth_topic [default: camera/depth_registered/image_raw]
      • left_topic [default: camera/left/image_rect_color]
      • left_info_topic [default: camera/left/camera_info]
      • right_topic [default: camera/right/image_rect]
      • right_info_topic [default: camera/right/camera_info]
      • rgbd_topic [default: camera/rgbd_image]
      • odom_topic [default: odom]
      • scan_topic [default: scan]
      • scan_cloud_topic [default: scan_cloud]
      • rgb_image_transport [default: raw]
      • depth_image_transport [default: raw]
  • launch/rtabmap.launch
      • stereo [default: false]
      • depth [default: false]
      • depth [default: true]
      • subscribe_rgb [default: $(arg depth)]
      • rtabmap_viz [default: true]
      • rviz [default: false]
      • localization [default: false]
      • initial_pose [default: ]
      • loc_thr [default: 0.0]
      • use_sim_time [default: false]
      • cfg [default: ]
      • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
      • rviz_cfg [default: $(find rtabmap_launch)/launch/config/rgbd.rviz]
      • frame_id [default: camera_link]
      • odom_frame_id [default: ]
      • odom_frame_id_init [default: ]
      • map_frame_id [default: map]
      • ground_truth_frame_id [default: ]
      • ground_truth_base_frame_id [default: ]
      • namespace [default: rtabmap]
      • database_path [default: ~/.ros/rtabmap.db]
      • topic_queue_size [default: 1]
      • queue_size [default: 10]
      • sync_queue_size [default: $(arg queue_size)]
      • wait_for_transform [default: 0.2]
      • args [default: ]
      • rtabmap_args [default: $(arg args)]
      • gdb [default: false]
      • launch_prefix [default: xterm -e gdb -q -ex run --args]
      • launch_prefix [default: ]
      • clear_params [default: true]
      • output [default: screen]
      • publish_tf_map [default: true]
      • approx_sync [default: false]
      • approx_sync [default: $(arg depth)]
      • approx_sync_max_interval [default: 0]
      • rgb_topic [default: /camera/rgb/image_rect_color]
      • depth_topic [default: /camera/depth_registered/image_raw]
      • camera_info_topic [default: /camera/rgb/camera_info]
      • depth_camera_info_topic [default: $(arg camera_info_topic)]
      • stereo_namespace [default: /stereo_camera]
      • left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
      • right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
      • left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
      • right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
      • rgbd_sync [default: false]
      • approx_rgbd_sync [default: true]
      • subscribe_rgbd [default: $(arg rgbd_sync)]
      • rgbd_topic [default: rgbd_image]
      • depth_scale [default: 1.0]
      • rgbd_depth_scale [default: $(arg depth_scale)]
      • rgbd_decimation [default: 1]
      • compressed [default: false]
      • rgb_image_transport [default: compressed]
      • depth_image_transport [default: compressedDepth]
      • gen_cloud [default: false]
      • gen_cloud_decimation [default: 4]
      • gen_cloud_voxel [default: 0.05]
      • subscribe_scan [default: false]
      • scan_topic [default: /scan]
      • subscribe_scan_cloud [default: $(arg gen_cloud)]
      • scan_cloud_topic [default: /scan_cloud]
      • subscribe_scan_descriptor [default: false]
      • scan_descriptor_topic [default: /scan_descriptor]
      • scan_deskewing [default: false]
      • scan_deskewing_slerp [default: false]
      • scan_cloud_max_points [default: 0]
      • scan_cloud_filtered [default: $(arg scan_deskewing)]
      • gen_scan [default: false]
      • gen_depth [default: false]
      • gen_depth_decimation [default: 1]
      • gen_depth_fill_holes_size [default: 0]
      • gen_depth_fill_iterations [default: 1]
      • gen_depth_fill_holes_error [default: 0.1]
      • visual_odometry [default: true]
      • icp_odometry [default: false]
      • odom_topic [default: odom]
      • vo_frame_id [default: $(arg odom_topic)]
      • publish_tf_odom [default: true]
      • odom_tf_angular_variance [default: 0.001]
      • odom_tf_linear_variance [default: 0.001]
      • odom_args [default: ]
      • odom_sensor_sync [default: false]
      • odom_guess_frame_id [default: ]
      • odom_guess_min_translation [default: 0]
      • odom_guess_min_rotation [default: 0]
      • odom_max_rate [default: 0]
      • odom_expected_rate [default: 0]
      • imu_topic [default: /imu/data]
      • wait_imu_to_init [default: false]
      • use_odom_features [default: false]
      • scan_cloud_assembling [default: false]
      • scan_cloud_assembling_time [default: 1]
      • scan_cloud_assembling_max_clouds [default: 0]
      • scan_cloud_assembling_fixed_frame [default: ]
      • scan_cloud_assembling_voxel_size [default: 0.05]
      • scan_cloud_assembling_range_min [default: 0.0]
      • scan_cloud_assembling_range_max [default: 0.0]
      • scan_cloud_assembling_noise_radius [default: 0.0]
      • scan_cloud_assembling_noise_min_neighbors [default: 5]
      • subscribe_user_data [default: false]
      • user_data_topic [default: /user_data]
      • user_data_async_topic [default: /user_data_async]
      • gps_topic [default: /gps/fix]
      • tag_topic [default: /tag_detections]
      • tag_linear_variance [default: 0.0001]
      • tag_angular_variance [default: 9999]
      • fiducial_topic [default: /fiducial_transforms]
      • rgb_topic_relay [default: $(arg rgb_topic)_relay]
      • rgb_topic_relay [default: $(arg rgb_topic)]
      • depth_topic_relay [default: $(arg depth_topic)_relay]
      • depth_topic_relay [default: $(arg depth_topic)]
      • left_image_topic_relay [default: $(arg left_image_topic)_relay]
      • left_image_topic_relay [default: $(arg left_image_topic)]
      • right_image_topic_relay [default: $(arg right_image_topic)_relay]
      • right_image_topic_relay [default: $(arg right_image_topic)]
      • rgbd_topic_relay [default: $(arg rgbd_topic)]
      • rgbd_topic_relay [default: $(arg rgbd_topic)_relay]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtabmap_launch at Robotics Stack Exchange