rtabmap_ros

RTAB-Map's ROS2 package (branch ros2). ROS2 Foxy minimum required: currently most nodes are ported to ROS2. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on rtabmap_ros).

CI Latest

ROS 1
ROS 2

ROS Binaries

ROS 1	Noetic
ROS 2	Humble
	Iron
	Jazzy
	Rolling
Docker	rtabmap_ros

Usage

• For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see rtabmap_examples sub-folder.

• For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see rtabmap_demos sub-folder.

Logging

To make RTAB-Map's logs appear ordered with RCLCPP's logs, set the following environment variables in your .bashrc (see official "About Logging" documentation for more info):

export RCUTILS_LOGGING_USE_STDOUT=1
export RCUTILS_LOGGING_BUFFERED_STREAM=1
# Optional, but if you like colored logs:
export RCUTILS_COLORIZED_OUTPUT=1

Recommended DDS

If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), it may be caused by the DDS. I recommend to use Cyclone DDS, you can try it by adding this before launching any nodes/launch files:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Installation

Binaries

sudo apt install ros-$ROS_DISTRO-rtabmap-ros

From Source

• Make sure to uninstall any rtabmap binaries:

  sudo apt remove ros-$ROS_DISTRO-rtabmap*
  

• 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