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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

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Package Summary

Tags No category tags.
Version 0.20.22
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 2022-12-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README.md

rtabmap_ros

RTAB-Map's ROS2 package (branch ros2). ROS2 Foxy minimum required: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on rtabmap_ros).

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#### ROS Binaries

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Usage

rtabmap.launch is also ported to ROS2 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 (with those lines set to false to avoid TF conflicts):

ros2 launch zed_wrapper zed.launch.py

ros2 launch rtabmap_ros 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:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    qos:=1 \
    rviz:=true

qos (Quality of Service) argument should match the published topics QoS (1=RELIABLE, 2=BEST EFFORT). ROS1 was always RELIABLE.

Installation

  • RTAB-Map ROS2 package:
    cd ~/ros2_ws
    git clone https://github.com/introlab/rtabmap.git src/rtabmap
    git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
    rosdep update && rosdep install --from-paths src --ignore-src -r -y
    export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
  • To build with rgbd_cameras>1 support and/or subscribe_user_data support:
    colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

Example with Turtlebot3

  1. Launch Turtlebot3 simulator:
    export TURTLEBOT3_MODEL=waffle
    ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

    export TURTLEBOT3_MODEL=waffle
    ros2 run turtlebot3_teleop teleop_keyboard
  1. Launch RTAB-Map:
    ros2 launch rtabmap_ros turtlebot3_scan.launch.py

    # OR with rtabmap.launch.py
    ros2 launch rtabmap_ros rtabmap.launch.py \
       visual_odometry:=false \
       frame_id:=base_footprint \
       subscribe_scan:=true depth:=false \
       approx_sync:=true \
       odom_topic:=/odom \
       scan_topic:=/scan \
       qos:=2 \
       args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" \
       use_sim_time:=true \
       rviz:=true
  1. Launch navigation (nav2_bringup package should be installed):
    ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
    ros2 launch nav2_bringup rviz_launch.py

See launch/ros2 subfolder for some other ROS2 examples with turtlebot3 in simulation and a RGB-D camera.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

  • 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]
      • initial_pose [default: ]
      • 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_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]
  • 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]
      • stereo [default: false]
      • 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
      • use_sim_time [default: false]
      • os1_hostname
      • os1_udp_dest
      • frame_id [default: os1_sensor]
      • rtabmapviz [default: true]
      • scan_20_hz [default: true]
  • 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_velodyne_d435i_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • imu_topic [default: /camera/imu]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • organize_cloud [default: $(arg deskewing)]
      • 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: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
  • launch/tests/test_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_velodyne_t265_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • odom_frame_id [default: t265_odom_frame]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_20_hz [default: true]
      • voxel_size [default: 0.15]
      • assemble [default: false]
      • ptp [default: false]
      • imu_topic [default: /os_cloud_node/imu]
      • scan_topic [default: /os_cloud_node/points]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]

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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

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Package Summary

Tags No category tags.
Version 0.20.22
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 2022-12-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README.md

rtabmap_ros

RTAB-Map's ROS2 package (branch ros2). ROS2 Foxy minimum required: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on rtabmap_ros).

CI Latest

ROS 1 Build Status
Build Status
ROS 2 Build Status

#### ROS Binaries

ROS 1 Melodic Build Status
Noetic Build Status
ROS 2 Foxy Build Status
Galactic Build Status
Humble Build Status
Rolling Build Status

Usage

rtabmap.launch is also ported to ROS2 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 (with those lines set to false to avoid TF conflicts):

ros2 launch zed_wrapper zed.launch.py

ros2 launch rtabmap_ros 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:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    qos:=1 \
    rviz:=true

qos (Quality of Service) argument should match the published topics QoS (1=RELIABLE, 2=BEST EFFORT). ROS1 was always RELIABLE.

Installation

  • RTAB-Map ROS2 package:
    cd ~/ros2_ws
    git clone https://github.com/introlab/rtabmap.git src/rtabmap
    git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
    rosdep update && rosdep install --from-paths src --ignore-src -r -y
    export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
  • To build with rgbd_cameras>1 support and/or subscribe_user_data support:
    colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

Example with Turtlebot3

  1. Launch Turtlebot3 simulator:
    export TURTLEBOT3_MODEL=waffle
    ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

    export TURTLEBOT3_MODEL=waffle
    ros2 run turtlebot3_teleop teleop_keyboard
  1. Launch RTAB-Map:
    ros2 launch rtabmap_ros turtlebot3_scan.launch.py

    # OR with rtabmap.launch.py
    ros2 launch rtabmap_ros rtabmap.launch.py \
       visual_odometry:=false \
       frame_id:=base_footprint \
       subscribe_scan:=true depth:=false \
       approx_sync:=true \
       odom_topic:=/odom \
       scan_topic:=/scan \
       qos:=2 \
       args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" \
       use_sim_time:=true \
       rviz:=true
  1. Launch navigation (nav2_bringup package should be installed):
    ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
    ros2 launch nav2_bringup rviz_launch.py

See launch/ros2 subfolder for some other ROS2 examples with turtlebot3 in simulation and a RGB-D camera.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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]
      • initial_pose [default: ]
      • 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_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]
  • 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]
      • stereo [default: false]
      • 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
      • use_sim_time [default: false]
      • os1_hostname
      • os1_udp_dest
      • frame_id [default: os1_sensor]
      • rtabmapviz [default: true]
      • scan_20_hz [default: true]
  • 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_velodyne_d435i_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • imu_topic [default: /camera/imu]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • organize_cloud [default: $(arg deskewing)]
      • 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: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
  • launch/tests/test_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_velodyne_t265_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • odom_frame_id [default: t265_odom_frame]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_20_hz [default: true]
      • voxel_size [default: 0.15]
      • assemble [default: false]
      • ptp [default: false]
      • imu_topic [default: /os_cloud_node/imu]
      • scan_topic [default: /os_cloud_node/points]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]

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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

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Package Summary

Tags No category tags.
Version 0.20.22
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 2022-12-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README.md

rtabmap_ros

RTAB-Map's ROS2 package (branch ros2). ROS2 Foxy minimum required: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on rtabmap_ros).

CI Latest

ROS 1 Build Status
Build Status
ROS 2 Build Status

#### ROS Binaries

ROS 1 Melodic Build Status
Noetic Build Status
ROS 2 Foxy Build Status
Galactic Build Status
Humble Build Status
Rolling Build Status

Usage

rtabmap.launch is also ported to ROS2 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 (with those lines set to false to avoid TF conflicts):

ros2 launch zed_wrapper zed.launch.py

ros2 launch rtabmap_ros 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:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    qos:=1 \
    rviz:=true

qos (Quality of Service) argument should match the published topics QoS (1=RELIABLE, 2=BEST EFFORT). ROS1 was always RELIABLE.

Installation

  • RTAB-Map ROS2 package:
    cd ~/ros2_ws
    git clone https://github.com/introlab/rtabmap.git src/rtabmap
    git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
    rosdep update && rosdep install --from-paths src --ignore-src -r -y
    export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
  • To build with rgbd_cameras>1 support and/or subscribe_user_data support:
    colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

Example with Turtlebot3

  1. Launch Turtlebot3 simulator:
    export TURTLEBOT3_MODEL=waffle
    ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

    export TURTLEBOT3_MODEL=waffle
    ros2 run turtlebot3_teleop teleop_keyboard
  1. Launch RTAB-Map:
    ros2 launch rtabmap_ros turtlebot3_scan.launch.py

    # OR with rtabmap.launch.py
    ros2 launch rtabmap_ros rtabmap.launch.py \
       visual_odometry:=false \
       frame_id:=base_footprint \
       subscribe_scan:=true depth:=false \
       approx_sync:=true \
       odom_topic:=/odom \
       scan_topic:=/scan \
       qos:=2 \
       args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" \
       use_sim_time:=true \
       rviz:=true
  1. Launch navigation (nav2_bringup package should be installed):
    ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
    ros2 launch nav2_bringup rviz_launch.py

See launch/ros2 subfolder for some other ROS2 examples with turtlebot3 in simulation and a RGB-D camera.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

  • 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]
      • initial_pose [default: ]
      • 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_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]
  • 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]
      • stereo [default: false]
      • 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
      • use_sim_time [default: false]
      • os1_hostname
      • os1_udp_dest
      • frame_id [default: os1_sensor]
      • rtabmapviz [default: true]
      • scan_20_hz [default: true]
  • 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_velodyne_d435i_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • imu_topic [default: /camera/imu]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • organize_cloud [default: $(arg deskewing)]
      • 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: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
  • launch/tests/test_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_velodyne_t265_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • odom_frame_id [default: t265_odom_frame]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_20_hz [default: true]
      • voxel_size [default: 0.15]
      • assemble [default: false]
      • ptp [default: false]
      • imu_topic [default: /os_cloud_node/imu]
      • scan_topic [default: /os_cloud_node/points]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]

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Package Summary

Tags No category tags.
Version 0.20.22
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 2022-12-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README.md

rtabmap_ros

RTAB-Map's ROS package.

For more information, demos and tutorials about this package, visit rtabmap_ros page on ROS wiki.

For the RTAB-Map libraries and standalone application, visit RTAB-Map's home page or RTAB-Map's wiki.

CI Latest

ROS 1 Build Status
Build Status
ROS 2 Build Status

#### ROS Binaries

ROS 1 Melodic Build Status
Noetic Build Status
ROS 2 Foxy Build Status
Galactic Build Status
Humble Build Status
Rolling Build Status

Installation

ROS2 distribution

Under construction: see ros2 branch.

ROS distribution

RTAB-Map is released as binaries in the ROS distribution.

sudo apt install ros-$ROS_DISTRO-rtabmap-ros

When launching rtabmap_ros's nodes, if you have the error error while loading shared libraries..., try ldconfig or add the next line at the end of your ~/.bashrc to fix it:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu

Docker

  • Go to docker directory for an example.

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Melodic/Noetic (Catkin build).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
    $ source /opt/ros/$ROS_DISTRO/setup.bash
    $ source ~/catkin_ws/devel/setup.bash
  1. Required dependencies
    • The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:
          sudo apt install ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
          sudo apt remove ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
  1. Optional dependencies
    • If you want SURF/SIFT on Melodic/Noetic, you have to build OpenCV from source to have access to xfeatures2d and nonfree modules (note that SIFT is not in nonfree anymore since OpenCV 4.4.0). Install it in /usr/local (default) and rtabmap library should link with it instead of the one installed in ROS.
      • On Melodic/Noetic, build from source with xfeatures2d module (and nonfree module if needed) the same OpenCV version already installed on the system. You will then avoid breaking cv_bridge with rtabmap_ros. If you want to install a more recent OpenCV version, I recommend to uninstall libopencv* libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure cv_bridge is linked on the OpenCV version you just compiled).
* [g2o](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-$ROS_DISTRO-libg2o`.

* [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source. If you install from source, make sure to build with `cmake  -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON`.

* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Follow their [instructions](https://github.com/ethz-asl/libpointmatcher#quick-start) to install. Should be alread installed by `ros-$ROS_DISTRO-libpointmatcher`.
  1. Install RTAB-Map standalone libraries. Do not clone in your Catkin workspace.
    cd ~
    git clone https://github.com/introlab/rtabmap.git rtabmap
    cd rtabmap/build
    cmake ..  [<---double dots included]
    make -j6
    sudo make install
  1. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.
    cd ~/catkin_ws
    git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
    catkin_make -j4


* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~2 GB to build depending on gcc version).
* Options:
    * Add `-DRTABMAP_SYNC_MULTI_RGBD=ON` to `catkin_make` if you plan to use multiple cameras.
    * Add `-DRTABMAP_SYNC_USER_DATA=ON` to `catkin_make` if you plan to use user data synchronized topics.

Build from source for Nvidia Jetson

  • For Jetpack 4 (Ubuntu 18.04 with ROS Melodic), see this post.
  • For Jetpack 3 (Ubuntu 16.04 with ROS Kinetic), see this post.

Update to new version

###########
# rtabmap
###########
cd rtabmap
git pull origin master
cd build
make
make install
# Do "sudo make install" if you installed rtabmap in "/usr/local"

###########
# rtabmap_ros
###########
roscd rtabmap_ros
git pull origin master
roscd
cd ..
catkin_make -j1 --pkg rtabmap_ros
CHANGELOG
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Launch files

  • 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]
      • initial_pose [default: ]
      • 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_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]
  • 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]
      • stereo [default: false]
      • 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
      • use_sim_time [default: false]
      • os1_hostname
      • os1_udp_dest
      • frame_id [default: os1_sensor]
      • rtabmapviz [default: true]
      • scan_20_hz [default: true]
  • 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_velodyne_d435i_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • imu_topic [default: /camera/imu]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • organize_cloud [default: $(arg deskewing)]
      • 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: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
  • launch/tests/test_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_velodyne_t265_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • odom_frame_id [default: t265_odom_frame]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_20_hz [default: true]
      • voxel_size [default: 0.15]
      • assemble [default: false]
      • ptp [default: false]
      • imu_topic [default: /os_cloud_node/imu]
      • scan_topic [default: /os_cloud_node/points]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]

Messages

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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

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Package Summary

Tags No category tags.
Version 0.20.22
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version melodic-devel
Last Updated 2022-12-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README.md

rtabmap_ros

RTAB-Map's ROS package.

For more information, demos and tutorials about this package, visit rtabmap_ros page on ROS wiki.

For the RTAB-Map libraries and standalone application, visit RTAB-Map's home page or RTAB-Map's wiki.

CI Latest

ROS 1 Build Status
Build Status
ROS 2 Build Status

#### ROS Binaries

ROS 1 Melodic Build Status
Noetic Build Status
ROS 2 Foxy Build Status
Galactic Build Status
Humble Build Status
Rolling Build Status

Installation

ROS2 distribution

Under construction: see ros2 branch.

ROS distribution

RTAB-Map is released as binaries in the ROS distribution.

sudo apt install ros-$ROS_DISTRO-rtabmap-ros

When launching rtabmap_ros's nodes, if you have the error error while loading shared libraries..., try ldconfig or add the next line at the end of your ~/.bashrc to fix it:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu

Docker

  • Go to docker directory for an example.

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Melodic/Noetic (Catkin build).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
    $ source /opt/ros/$ROS_DISTRO/setup.bash
    $ source ~/catkin_ws/devel/setup.bash
  1. Required dependencies
    • The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:
          sudo apt install ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
          sudo apt remove ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
  1. Optional dependencies
    • If you want SURF/SIFT on Melodic/Noetic, you have to build OpenCV from source to have access to xfeatures2d and nonfree modules (note that SIFT is not in nonfree anymore since OpenCV 4.4.0). Install it in /usr/local (default) and rtabmap library should link with it instead of the one installed in ROS.
      • On Melodic/Noetic, build from source with xfeatures2d module (and nonfree module if needed) the same OpenCV version already installed on the system. You will then avoid breaking cv_bridge with rtabmap_ros. If you want to install a more recent OpenCV version, I recommend to uninstall libopencv* libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure cv_bridge is linked on the OpenCV version you just compiled).
* [g2o](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-$ROS_DISTRO-libg2o`.

* [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source. If you install from source, make sure to build with `cmake  -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON`.

* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Follow their [instructions](https://github.com/ethz-asl/libpointmatcher#quick-start) to install. Should be alread installed by `ros-$ROS_DISTRO-libpointmatcher`.
  1. Install RTAB-Map standalone libraries. Do not clone in your Catkin workspace.
    cd ~
    git clone https://github.com/introlab/rtabmap.git rtabmap
    cd rtabmap/build
    cmake ..  [<---double dots included]
    make -j6
    sudo make install
  1. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.
    cd ~/catkin_ws
    git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
    catkin_make -j4


* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~2 GB to build depending on gcc version).
* Options:
    * Add `-DRTABMAP_SYNC_MULTI_RGBD=ON` to `catkin_make` if you plan to use multiple cameras.
    * Add `-DRTABMAP_SYNC_USER_DATA=ON` to `catkin_make` if you plan to use user data synchronized topics.

Build from source for Nvidia Jetson

  • For Jetpack 4 (Ubuntu 18.04 with ROS Melodic), see this post.
  • For Jetpack 3 (Ubuntu 16.04 with ROS Kinetic), see this post.

Update to new version

###########
# rtabmap
###########
cd rtabmap
git pull origin master
cd build
make
make install
# Do "sudo make install" if you installed rtabmap in "/usr/local"

###########
# rtabmap_ros
###########
roscd rtabmap_ros
git pull origin master
roscd
cd ..
catkin_make -j1 --pkg rtabmap_ros
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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]
      • initial_pose [default: ]
      • 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_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]
  • 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]
      • stereo [default: false]
      • 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
      • use_sim_time [default: false]
      • os1_hostname
      • os1_udp_dest
      • frame_id [default: os1_sensor]
      • rtabmapviz [default: true]
      • scan_20_hz [default: true]
  • 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_velodyne_d435i_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • imu_topic [default: /camera/imu]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • organize_cloud [default: $(arg deskewing)]
      • 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: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
  • launch/tests/test_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_velodyne_t265_deskewing.launch
      • rtabmapviz [default: true]
      • scan_20_hz [default: false]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_topic [default: /velodyne_points]
      • use_sim_time [default: false]
      • odom_frame_id [default: t265_odom_frame]
      • frame_id [default: velodyne]
      • queue_size [default: 10]
      • queue_size_odom [default: 1]
      • loop_ratio [default: 0.2]
      • resolution [default: 0.05]
      • 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: 0.6]
      • floam [default: false]
      • floam_sensor [default: 0]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]
      • deskewing [default: true]
      • slerp [default: false]
      • scan_20_hz [default: true]
      • voxel_size [default: 0.15]
      • assemble [default: false]
      • ptp [default: false]
      • imu_topic [default: /os_cloud_node/imu]
      • scan_topic [default: /os_cloud_node/points]
      • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
      • scan_topic_deskewed [default: $(arg scan_topic)]
  • 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]

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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

API Docs
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Package Summary

Tags No category tags.
Version 0.20.20
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version galactic-devel
Last Updated 2022-10-02
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.

Additional Links

Maintainers

  • Mathieu Labbe

Authors

  • Mathieu Labbe
README.md

rtabmap_ros Build Status

RTAB-Map's ROS2 package (branch ros2). ROS2 Foxy minimum required: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on rtabmap_ros).

rtabmap.launch is also ported to ROS2 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 (with those lines set to false to avoid TF conflicts):

ros2 launch zed_wrapper zed.launch.py

ros2 launch rtabmap_ros 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:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    qos:=1 \
    rviz:=true

qos (Quality of Service) argument should match the published topics QoS (1=RELIABLE, 2=BEST EFFORT). ROS1 was always RELIABLE.

Installation

  • RTAB-Map ROS2 package:
    cd ~/ros2_ws
    git clone https://github.com/introlab/rtabmap.git src/rtabmap
    git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
    export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
    colcon build --symlink-install
  • To build with rgbd_cameras>1 support and/or subscribe_user_data support:
    colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON

Example with Turtlebot3

  1. Launch Turtlebot3 simulator:
    export TURTLEBOT3_MODEL=waffle
    ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

    export TURTLEBOT3_MODEL=waffle
    ros2 run turtlebot3_teleop teleop_keyboard
  1. Launch RTAB-Map:
    ros2 launch rtabmap_ros turtlebot3_scan.launch.py

    # OR with rtabmap.launch.py
    ros2 launch rtabmap_ros rtabmap.launch.py \
       visual_odometry:=false \
       frame_id:=base_footprint \
       subscribe_scan:=true depth:=false \
       approx_sync:=true \
       odom_topic:=/odom \
       scan_topic:=/scan \
       qos:=2 \
       args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" \
       use_sim_time:=true \
       rviz:=true
  1. Launch navigation (nav2_bringup package should be installed):
    ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
    ros2 launch nav2_bringup rviz_launch.py

See launch/ros2 subfolder for some other ROS2 examples with turtlebot3 in simulation and a RGB-D camera.

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