• launch/rtabmap.launch
  • • stereo [default: false]
    • depth [default: false]
    • depth [default: true]
    • subscribe_rgb [default: $(arg depth)]
    • rtabmapviz [default: true]
    • rviz [default: false]
    • localization [default: false]
    • use_sim_time [default: false]
    • cfg [default: ]
    • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
    • rviz_cfg [default: $(find rtabmap_ros)/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]
    • queue_size [default: 10]
    • 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_cloud_max_points [default: 0]
    • scan_cloud_filtered [default: false]
    • 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]
• launch/rgbd_mapping.launch
  • • rviz [default: false]
    • rtabmapviz [default: true]
    • localization [default: false]
    • rtabmapviz_cfg [default: ~/.ros/rtabmap_gui.ini]
    • rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
    • frame_id [default: camera_link]
    • database_path [default: ~/.ros/rtabmap.db]
    • rtabmap_args [default: ]
    • launch_prefix [default: ]
    • approx_sync [default: true]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_registered_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
    • compressed [default: false]
    • subscribe_scan [default: false]
    • scan_topic [default: /scan]
    • subscribe_scan_cloud [default: false]
    • scan_cloud_topic [default: /scan_cloud]
    • visual_odometry [default: true]
    • odom_topic [default: /odom]
    • odom_frame_id [default: ]
    • namespace [default: rtabmap]
    • wait_for_transform [default: 0.2]
• launch/azimut3/az3_mapping_robot.launch
• launch/azimut3/az3_mapping_client_stereo_nav.launch
• launch/azimut3/az3_nav_kinect-only.launch
  • • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/azimut3/az3_bag_mapping.launch
• launch/azimut3/az3_remote_mapping_rviz.launch
• launch/azimut3/az3_bag_record.launch
• launch/azimut3/az3_remote_find_object.launch
• launch/azimut3/az3_remote_mapping_robot.launch
• launch/azimut3/az3_mapping_robot_kinect_odom.launch
• launch/azimut3/az3_mapping_client.launch
• launch/azimut3/az3_mapping_robot_stereo_nav.launch
• launch/azimut3/az3_openni.launch
• launch/azimut3/az3_db_record.launch
• launch/azimut3/az3_mapping_robot_kinect_only.launch
• launch/azimut3/az3_nav.launch
  • • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/azimut3/az3_nav_client.launch
  • • rviz [default: true]
    • rtabmapviz [default: false]
    • sub_data [default: false]
• launch/azimut3/az3_nav_kinect_odom.launch
  • • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/azimut3/az3_mapping_robot_kinect_scan.launch
  • • rtabmap_args [default: ]
    • localization [default: false]
• launch/rgbd_mapping_kinect2.launch
  • • resolution [default: qhd]
    • frame_id [default: kinect2_base_link]
    • rviz [default: false]
    • rtabmapviz [default: true]
    • rtabmapviz_cfg [default: -d $(find rtabmap_ros)/launch/config/rgbd_gui.ini]
    • rviz_cfg [default: -d $(find rtabmap_ros)/launch/config/rgbd.rviz]
    • gftt_block_size [default: 5]
    • gftt_min_distance [default: 5]
• launch/stereo_mapping.launch
  • • rtabmapviz [default: true]
    • rviz [default: false]
    • localization [default: false]
    • rtabmapviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd_gui.ini]
    • rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
    • frame_id [default: base_link]
    • database_path [default: ~/.ros/rtabmap.db]
    • rtabmap_args [default: ]
    • launch_prefix [default: ]
    • approx_sync [default: false]
    • 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]
    • compressed [default: false]
    • subscribe_scan [default: false]
    • scan_topic [default: /scan]
    • subscribe_scan_cloud [default: false]
    • scan_cloud_topic [default: /scan_cloud]
    • visual_odometry [default: true]
    • odom_topic [default: /odom]
    • odom_frame_id [default: ]
    • namespace [default: rtabmap]
    • wait_for_transform [default: 0.2]
• launch/jfr2018/throttle_bag.launch
• launch/jfr2018/cartographer.launch
  • Copyright 2016 The Cartographer Authors Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
• 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/demo/demo_data_recorder.launch
• launch/demo/demo_hector_mapping.launch
  • • rviz [default: true]
    • rtabmapviz [default: false]
    • hector [default: true]
    • odom_guess [default: false]
    • camera [default: true]
    • max_range [default: 0]
    • p2n [default: true]
    • pm [default: true]
• launch/demo/demo_appearance_mapping.launch
  • • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/demo/demo_turtlebot_mapping.launch
  • • database_path [default: rtabmap.db]
    • rgbd_odometry [default: false]
    • rtabmapviz [default: false]
    • localization [default: false]
    • simulation [default: false]
    • sw_registered [default: false]
    • args [default: ]
    • args [default: --delete_db_on_start]
    • rgb_topic [default: /camera/rgb/image_raw]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth/image_raw]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
    • wait_for_transform [default: 0.2]
• launch/demo/demo_turtlebot_tango.launch
  • • database_path [default: rtabmap.db]
    • tango_odometry [default: true]
    • localization [default: false]
    • rtabmapviz [default: false]
    • args [default: ]
    • args [default: --delete_db_on_start]
    • wait_for_transform [default: 0.2]
• launch/demo/demo_stereo_outdoor.launch
  • • rviz [default: true]
    • rtabmapviz [default: false]
    • local_bundle [default: true]
    • stereo_sync [default: false]
• launch/demo/demo_turtlebot_rviz.launch
  • Used for visualising the turtlebot while building a map or navigating with the ros navistack.
• launch/demo/demo_stereo_pr2.launch
• launch/demo/demo_husky.launch
  • • navigation [default: true]
    • localization [default: false]
    • icp_odometry [default: false]
    • rtabmapviz [default: false]
    • camera [default: false]
    • lidar2d [default: false]
    • lidar3d [default: false]
    • lidar3d_ray_tracing [default: true]
    • slam2d [default: true]
    • depth_from_lidar [default: false]
    • cell_size [default: 0.3]
    • cell_size [default: 0.05]
    • lidar_args [default: --Reg/Strategy 1 --RGBD/NeighborLinkRefining true --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0 --Icp/MaxTranslation 1]
    • lidar_args [default: --Reg/Strategy 1 --RGBD/NeighborLinkRefining true --ICP/PM true --Icp/PMOutlierRatio 0.7 --Icp/VoxelSize $(arg cell_size) --Icp/MaxCorrespondenceDistance 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius $(arg cell_size) --OdomF2M/ScanMaxSize 15000 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0 --Icp/PointToPlaneNormalK 10 --Icp/MaxTranslation 1]
• launch/demo/demo_isaac_carter_navigation.launch
  • • localization [default: false]
    • lidar3d [default: false]
    • lidar3d_ray_tracing [default: true]
    • lidar3d_grid3d [default: true]
    • camera [default: true]
    • model [default: $(find carter_description)/urdf/carter.urdf]
    • cell_size [default: 0.2]
    • cell_size [default: 0.05]
• launch/demo/demo_multi-session_mapping.launch
  • • rviz [default: false]
    • rtabmapviz [default: true]
    • rtabmap_args [default: ]
• launch/demo/demo_find_object.launch
  • • rviz [default: true]
    • rtabmapviz [default: false]
    • save_objects [default: false]
    • localization [default: false]
    • save_objects_as_landmarks [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/demo/demo_robot_mapping.launch
  • • rviz [default: false]
    • rtabmapviz [default: true]
    • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/demo/demo_catvehicle_mapping.launch
  • • camera [default: true]
    • lidar [default: true]
    • cell_size [default: 0.2]
    • rtabmapviz [default: true]
    • rviz [default: true]
    • light [default: false]
    • altitude [default: 0]
    • localization [default: false]
• launch/demo/demo_turtlebot3_navigation.launch
  • • model [default: $(env TURTLEBOT3_MODEL)] — model type [burger, waffle, waffle_pi]
    • open_rviz [default: true]
    • rtabmapviz [default: true]
    • move_forward_only [default: false]
    • with_camera [default: true]
    • localization [default: false]
    • database_path [default: ~/.ros/rtabmap.db]
    • rtabmap_args [default: ]
    • rtabmap_args [default: -d]
• launch/demo/demo_two_kinects.launch
  • • rviz [default: false]
    • rtabmapviz [default: true]
    • strategy [default: 0]
    • feature [default: 6]
    • nn [default: 3]
    • max_depth [default: 4.0]
    • min_inliers [default: 20]
    • inlier_distance [default: 0.02]
    • local_map [default: 1000]
    • odom_info_data [default: true]
    • wait_for_transform [default: true]
• launch/tests/test_apriltag_ros.launch
  • • camera_frame_id [default: camera_color_optical_frame]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • camera_info_topic [default: /camera/rgb/camera_info]
• launch/tests/test_ouster.launch
  • • os1_hostname
    • os1_udp_dest
    • frame_id [default: os1_sensor]
    • rtabmapviz [default: true]
    • scan_20_hz [default: true]
    • use_sim_time [default: false]
• launch/tests/test_rgbd_image.launch
  • • compressed [default: false]
    • compressed_rate [default: 0]
• launch/tests/test_laser_assembler.launch
  • • rtabmap_args [default: --delete_db_on_start --Rtabmap/DetectionRate 0 --RGBD/ProximityBySpace false --RGBD/LinearUpdate 0 --RGBD/AngularUpdate 0 --RGBD/ProximityPathMaxNeighbors 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]
    • rtabmapviz [default: true]
    • rviz [default: false]
• launch/tests/test_d435i_vio.launch
  • • rtabmapviz [default: true]
    • rviz [default: false]
    • depth_mode [default: true]
    • odom_strategy [default: 9]
    • unite_imu_method [default: copy]
• launch/tests/test_undistort_depth.launch
  • • depth [default: /camera/depth_registered/image_raw]
    • model [default: $(find rtabmap_ros)/launch/calibration/distortion_model_PS1080.bin]
• launch/tests/test_obstacles_detection.launch
• launch/tests/bumblebee.launch
  • • gen_depth [default: false]
• launch/tests/sensor_fusion.launch
  • • frame_id [default: base_link]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
    • imu_topic [default: /imu/data]
    • imu_ignore_acc [default: true]
    • imu_remove_gravitational_acceleration [default: true]
    • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/tests/sensor_fusion_kinect_brick.launch
  • • localization [default: false]
    • uid
• launch/tests/test_map_optimizer.launch
• launch/tests/test_icp_odometry.launch
  • • rgbd [default: false]
    • pm [default: false]
    • nodelet [default: false]
• launch/tests/test_map_assembler.launch
• launch/tests/test_rtabmap_nodelets.launch
  • • frame_id [default: camera_link]
    • rtabmap_args [default: --delete_db_on_start]
    • odom_args [default: $(arg rtabmap_args)]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
• launch/tests/test_velodyne.launch
  • • rtabmapviz [default: true]
    • use_imu [default: false]
    • imu_topic [default: /imu/data]
    • scan_20_hz [default: false]
    • organize_cloud [default: false]
    • scan_topic [default: /velodyne_points]
    • use_sim_time [default: false]
    • frame_id [default: velodyne]
    • queue_size [default: 10]
    • queue_size_odom [default: 1]
    • loop_ratio [default: 0.2]
    • resolution [default: 0.1]
    • iterations [default: 10]
    • ground_is_obstacle [default: true]
    • grid_max_range [default: 20]
    • ground_normals_up [default: false]
    • local_map_size [default: 15000]
    • key_frame_thr [default: 0.8]
    • floam [default: false]
    • floam_sensor [default: 0]
• launch/tests/test_prior.launch
  • • rviz [default: true]
    • rtabmapviz [default: false]
• launch/tests/rgbdslam_datasets.launch
  • • rviz [default: true]
    • rtabmapviz [default: false]
• launch/tests/test_ouster_gen2.launch
  • • use_sim_time [default: false]
    • sensor_hostname
    • udp_dest
    • frame_id [default: os_sensor]
    • rtabmapviz [default: true]
    • scan_20_hz [default: true]
    • voxel_size [default: 0.15]
    • assemble [default: false]
    • ptp [default: false]
    • distortion_correction [default: false]
• launch/tests/euroc_datasets.launch
  • • feature_type [default: 6]
    • gravity_opt [default: false]
    • args [default: ]
    • common_args [default: -d --RGBD/CreateOccupancyGrid false --Odom/FeatureType $(arg feature_type) --Kp/DetectorStrategy $(arg feature_type) --Optimizer/GravitySigma 0.3 $(arg args)]
    • common_args [default: -d --RGBD/CreateOccupancyGrid false --Odom/FeatureType $(arg feature_type) --Kp/DetectorStrategy $(arg feature_type) $(arg args) ]
    • cfg [default: ]
    • MH_seq [default: false]
    • raw_images_for_odom [default: false]
    • record_ground_truth [default: false]
    • rtabmapviz [default: true]
    • rviz [default: false]
• launch/tests/test_two_kinects_one_map.launch
• launch/tests/test_use_odom_features.launch
  • • frame_id [default: camera_link]
    • rtabmap_args [default: --delete_db_on_start]
    • odom_args [default: $(arg rtabmap_args)]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
• launch/tests/test_pointxyzrgb.launch
• launch/tests/test_k4a_cloud_only.launch
  • • rtabmapviz [default: true]

• msg/RGBDImage.msg
• msg/Info.msg
• msg/CameraModels.msg
• msg/Link.msg
• msg/Point3f.msg
• msg/MapGraph.msg
• msg/UserData.msg
• msg/CameraModel.msg
• msg/RGBDImages.msg
• msg/EnvSensor.msg
• msg/MapData.msg
• msg/GPS.msg
• msg/ScanDescriptor.msg
• msg/OdomInfo.msg
• msg/GlobalDescriptor.msg
• msg/Path.msg
• msg/NodeData.msg
• msg/KeyPoint.msg
• msg/Goal.msg
• msg/Point2f.msg

• srv/GetNodesInRadius.srv
• srv/SetLabel.srv
• srv/GetPlan.srv
• srv/AddLink.srv
• srv/GetMap.srv
• srv/GetMap2.srv
• srv/SetGoal.srv
• srv/GlobalBundleAdjustment.srv
• srv/PublishMap.srv
• srv/GetNodeData.srv
• srv/LoadDatabase.srv
• srv/CleanupLocalGrids.srv
• srv/RemoveLabel.srv
• srv/ListLabels.srv
• srv/DetectMoreLoopClosures.srv
• srv/ResetPose.srv

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