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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

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Package Summary

Tags No category tags.
Version 0.17.6
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 2018-09-29
Dev Status MAINTAINED
Released RELEASED

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 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.

Installation

ROS distribution

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

    $ sudo apt-get install ros-lunar-rtabmap-ros
  • Kinetic
    $ sudo apt-get install ros-kinetic-rtabmap-ros
  • Jade
    $ sudo apt-get install ros-jade-rtabmap-ros
  • Indigo
    $ sudo apt-get install ros-indigo-rtabmap-ros
  • Hydro:
    $ sudo apt-get install ros-hydro-rtabmap-ros


* Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see [Build from source](https://github.com/introlab/rtabmap_ros#build-from-source) below.

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

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

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic/Lunar (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar (Fuerte and Groovy are not supported).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. I will use kinetic prefix for convenience, but it should work with Hydro, Indigo, Jade and Lunar. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
    $ source /opt/ros/kinetic/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-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
          $ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
  1. Optional dependencies
    • If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS.
      • On Indigo/Jade, I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.
      • On Kinetic/Lunar, I recommend to use OpenCV3+xfeatures2d module already installed by ROS. You can also install OpenCV2, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic/Lunar, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV2.
* g2o: Use directly the binaries `ros-kinetic-libg2o`. However, [this g2o version](https://github.com/felixendres/g2o/tree/c++03) (c++03 branch) built from source may be faster than the binaries (install `libsuitesparse-dev` before building `g2o`) and would be [required to avoid some crashes](http://official-rtab-map-forum.67519.x6.nabble.com/ROS-2D-occupancy-grid-tp1204p1215.html). To build RTAB-Map against [latest official g2o version](https://github.com/RainerKuemmerle/g2o) built from source, g2o should be built with `-DBUILD_WITH_MARCH_NATIVE=OFF` to avoid some segmentation faults caused by Eigen.

* [GTSAM](https://collab.cc.gatech.edu/borg/gtsam): Follow installation instructions from [here](https://collab.cc.gatech.edu/borg/gtsam/#quickstart). RTAB-Map needs latest version from source, it will **not build** with 3.2.1. Set cmake variable `GTSAM_USE_SYSTEM_EIGEN=ON` to make sure the same Eigen version is used across all dependencies to avoid crashes.

        git clone https://bitbucket.org/gtborg/gtsam.git
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ 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 -j1


* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).

Build from source for Nvidia Jetson with OpenCV 4 Tegra

To use rtabmap_ros on Jetson, you can follow the instructions above if you don't care if OpenCV is built for Tegra. However, if you want rtabmap to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps: 1. Install JetPack with OpenCV on the Jetson. 2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu 3. Install non-opencv dependent ros packages:

* `sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev`
  1. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
  2. Create your catkin workspace
  3. Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
  4. To avoid libGL undefined errors:
     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so
  1. To avoid libvtkproj4 errors:
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ sudo make install
  1. Clone vision_opencv, image_transport_plugins and rtabmap_ros packages in your catkin_ws:
    $ cd ~/catkin_ws
    $ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
    $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
    $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros src/rtabmap_ros
    $ catkin_make -j2

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/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/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_multi-session_mapping.launch
      • rviz [default: false]
      • rtabmapviz [default: true]
      • rtabmap_args [default: ]
  • launch/demo/demo_appearance_mapping.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/demo/demo_hector_mapping.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • hector [default: true]
  • launch/demo/demo_turtlebot_rviz.launch
    • Used for visualising the turtlebot while building a map or navigating with the ros navistack.
  • launch/demo/demo_data_recorder.launch
  • launch/demo/demo_find_object.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • save_objects [default: false]
      • localization [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_stereo_pr2.launch
  • 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/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_mapping_client_stereo_nav.launch
  • launch/azimut3/az3_mapping_client.launch
  • launch/azimut3/az3_openni.launch
  • launch/azimut3/az3_remote_mapping_robot.launch
  • launch/azimut3/az3_remote_mapping_rviz.launch
  • launch/azimut3/az3_db_record.launch
  • launch/azimut3/az3_nav_client.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • sub_data [default: false]
  • launch/azimut3/az3_bag_mapping.launch
  • launch/azimut3/az3_mapping_robot_kinect_scan.launch
      • rtabmap_args [default: ]
      • localization [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_remote_find_object.launch
  • launch/azimut3/az3_mapping_robot_kinect_odom.launch
  • launch/azimut3/az3_mapping_robot.launch
  • launch/azimut3/az3_bag_record.launch
  • launch/azimut3/az3_mapping_robot_stereo_nav.launch
  • launch/azimut3/az3_nav_kinect-only.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/rtabmap.launch
      • stereo [default: false]
      • rtabmapviz [default: true]
      • rviz [default: false]
      • localization [default: false]
      • use_sim_time [default: false]
      • cfg [default: ]
      • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
      • rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
      • frame_id [default: camera_link]
      • odom_frame_id [default: ]
      • 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)]
      • launch_prefix [default: ]
      • output [default: screen]
      • approx_sync [default: false]
      • approx_sync [default: true]
      • 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]
      • compressed [default: false]
      • rgb_image_transport [default: compressed]
      • depth_image_transport [default: compressedDepth]
      • subscribe_scan [default: false]
      • scan_topic [default: /scan]
      • subscribe_scan_cloud [default: false]
      • scan_cloud_topic [default: /scan_cloud]
      • scan_normal_k [default: 0]
      • visual_odometry [default: true]
      • icp_odometry [default: false]
      • odom_topic [default: odom]
      • vo_frame_id [default: $(arg odom_topic)]
      • odom_tf_angular_variance [default: 1]
      • odom_tf_linear_variance [default: 1]
      • 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]
      • imu_topic [default: /imu]
      • subscribe_user_data [default: false]
      • user_data_topic [default: /user_data]
      • user_data_async_topic [default: /user_data_async]
      • 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)]
  • launch/tests/test_rgbd_image.launch
      • compressed [default: false]
  • 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_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_two_kinects_one_map.launch
  • launch/tests/euroc_datasets.launch
      • args [default: -d --RGBD/CreateOccupancyGrid false]
      • cfg [default: ]
      • MH_seq [default: false]
      • rtabmapviz [default: true]
      • rviz [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/bumblebee.launch
      • gen_depth [default: false]
  • launch/tests/test_icp_odometry.launch
      • rgbd [default: false]
      • pm [default: false]
      • nodelet [default: false]
  • launch/tests/test_obstacles_detection.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/sensor_fusion_kinect_brick.launch
      • localization [default: false]
      • uid
  • launch/tests/test_pointxyzrgb.launch
  • 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_map_optimizer.launch
  • launch/tests/rgbdslam_datasets.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • 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/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]

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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

API Docs
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Wiki

Package Summary

Tags No category tags.
Version 0.17.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version lunar-devel
Last Updated 2018-09-29
Dev Status MAINTAINED
Released RELEASED

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 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.

Installation

ROS distribution

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

    $ sudo apt-get install ros-lunar-rtabmap-ros
  • Kinetic
    $ sudo apt-get install ros-kinetic-rtabmap-ros
  • Jade
    $ sudo apt-get install ros-jade-rtabmap-ros
  • Indigo
    $ sudo apt-get install ros-indigo-rtabmap-ros
  • Hydro:
    $ sudo apt-get install ros-hydro-rtabmap-ros


* Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see [Build from source](https://github.com/introlab/rtabmap_ros#build-from-source) below.

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

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

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic/Lunar (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar (Fuerte and Groovy are not supported).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. I will use kinetic prefix for convenience, but it should work with Hydro, Indigo, Jade and Lunar. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
    $ source /opt/ros/kinetic/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-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
          $ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
  1. Optional dependencies
    • If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS.
      • On Indigo/Jade, I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.
      • On Kinetic/Lunar, I recommend to use OpenCV3+xfeatures2d module already installed by ROS. You can also install OpenCV2, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic/Lunar, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV2.
* g2o: Use directly the binaries `ros-kinetic-libg2o`. However, [this g2o version](https://github.com/felixendres/g2o/tree/c++03) (c++03 branch) built from source may be faster than the binaries (install `libsuitesparse-dev` before building `g2o`) and would be [required to avoid some crashes](http://official-rtab-map-forum.67519.x6.nabble.com/ROS-2D-occupancy-grid-tp1204p1215.html). To build RTAB-Map against [latest official g2o version](https://github.com/RainerKuemmerle/g2o) built from source, g2o should be built with `-DBUILD_WITH_MARCH_NATIVE=OFF` to avoid some segmentation faults caused by Eigen.

* [GTSAM](https://collab.cc.gatech.edu/borg/gtsam): Follow installation instructions from [here](https://collab.cc.gatech.edu/borg/gtsam/#quickstart). RTAB-Map needs latest version from source, it will **not build** with 3.2.1. Set cmake variable `GTSAM_USE_SYSTEM_EIGEN=ON` to make sure the same Eigen version is used across all dependencies to avoid crashes.

        git clone https://bitbucket.org/gtborg/gtsam.git
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ 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 -j1


* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).

Build from source for Nvidia Jetson with OpenCV 4 Tegra

To use rtabmap_ros on Jetson, you can follow the instructions above if you don't care if OpenCV is built for Tegra. However, if you want rtabmap to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps: 1. Install JetPack with OpenCV on the Jetson. 2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu 3. Install non-opencv dependent ros packages:

* `sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev`
  1. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
  2. Create your catkin workspace
  3. Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
  4. To avoid libGL undefined errors:
     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so
  1. To avoid libvtkproj4 errors:
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ sudo make install
  1. Clone vision_opencv, image_transport_plugins and rtabmap_ros packages in your catkin_ws:
    $ cd ~/catkin_ws
    $ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
    $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
    $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros src/rtabmap_ros
    $ catkin_make -j2

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/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/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_multi-session_mapping.launch
      • rviz [default: false]
      • rtabmapviz [default: true]
      • rtabmap_args [default: ]
  • launch/demo/demo_appearance_mapping.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/demo/demo_hector_mapping.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • hector [default: true]
  • launch/demo/demo_turtlebot_rviz.launch
    • Used for visualising the turtlebot while building a map or navigating with the ros navistack.
  • launch/demo/demo_data_recorder.launch
  • launch/demo/demo_find_object.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • save_objects [default: false]
      • localization [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_stereo_pr2.launch
  • 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/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_mapping_client_stereo_nav.launch
  • launch/azimut3/az3_mapping_client.launch
  • launch/azimut3/az3_openni.launch
  • launch/azimut3/az3_remote_mapping_robot.launch
  • launch/azimut3/az3_remote_mapping_rviz.launch
  • launch/azimut3/az3_db_record.launch
  • launch/azimut3/az3_nav_client.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • sub_data [default: false]
  • launch/azimut3/az3_bag_mapping.launch
  • launch/azimut3/az3_mapping_robot_kinect_scan.launch
      • rtabmap_args [default: ]
      • localization [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_remote_find_object.launch
  • launch/azimut3/az3_mapping_robot_kinect_odom.launch
  • launch/azimut3/az3_mapping_robot.launch
  • launch/azimut3/az3_bag_record.launch
  • launch/azimut3/az3_mapping_robot_stereo_nav.launch
  • launch/azimut3/az3_nav_kinect-only.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/rtabmap.launch
      • stereo [default: false]
      • rtabmapviz [default: true]
      • rviz [default: false]
      • localization [default: false]
      • use_sim_time [default: false]
      • cfg [default: ]
      • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
      • rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
      • frame_id [default: camera_link]
      • odom_frame_id [default: ]
      • 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)]
      • launch_prefix [default: ]
      • output [default: screen]
      • approx_sync [default: false]
      • approx_sync [default: true]
      • 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]
      • compressed [default: false]
      • rgb_image_transport [default: compressed]
      • depth_image_transport [default: compressedDepth]
      • subscribe_scan [default: false]
      • scan_topic [default: /scan]
      • subscribe_scan_cloud [default: false]
      • scan_cloud_topic [default: /scan_cloud]
      • scan_normal_k [default: 0]
      • visual_odometry [default: true]
      • icp_odometry [default: false]
      • odom_topic [default: odom]
      • vo_frame_id [default: $(arg odom_topic)]
      • odom_tf_angular_variance [default: 1]
      • odom_tf_linear_variance [default: 1]
      • 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]
      • imu_topic [default: /imu]
      • subscribe_user_data [default: false]
      • user_data_topic [default: /user_data]
      • user_data_async_topic [default: /user_data_async]
      • 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)]
  • launch/tests/test_rgbd_image.launch
      • compressed [default: false]
  • 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_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_two_kinects_one_map.launch
  • launch/tests/euroc_datasets.launch
      • args [default: -d --RGBD/CreateOccupancyGrid false]
      • cfg [default: ]
      • MH_seq [default: false]
      • rtabmapviz [default: true]
      • rviz [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/bumblebee.launch
      • gen_depth [default: false]
  • launch/tests/test_icp_odometry.launch
      • rgbd [default: false]
      • pm [default: false]
      • nodelet [default: false]
  • launch/tests/test_obstacles_detection.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/sensor_fusion_kinect_brick.launch
      • localization [default: false]
      • uid
  • launch/tests/test_pointxyzrgb.launch
  • 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_map_optimizer.launch
  • launch/tests/rgbdslam_datasets.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • 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/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]

Messages

Services

Plugins

Recent questions tagged rtabmap_ros at answers.ros.org

rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

API Docs
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Wiki

Package Summary

Tags No category tags.
Version 0.17.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-09-29
Dev Status MAINTAINED
Released RELEASED

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 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.

Installation

ROS distribution

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

    $ sudo apt-get install ros-lunar-rtabmap-ros
  • Kinetic
    $ sudo apt-get install ros-kinetic-rtabmap-ros
  • Jade
    $ sudo apt-get install ros-jade-rtabmap-ros
  • Indigo
    $ sudo apt-get install ros-indigo-rtabmap-ros
  • Hydro:
    $ sudo apt-get install ros-hydro-rtabmap-ros


* Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see [Build from source](https://github.com/introlab/rtabmap_ros#build-from-source) below.

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

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

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic/Lunar (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar (Fuerte and Groovy are not supported).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. I will use kinetic prefix for convenience, but it should work with Hydro, Indigo, Jade and Lunar. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
    $ source /opt/ros/kinetic/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-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
          $ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
  1. Optional dependencies
    • If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS.
      • On Indigo/Jade, I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.
      • On Kinetic/Lunar, I recommend to use OpenCV3+xfeatures2d module already installed by ROS. You can also install OpenCV2, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic/Lunar, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV2.
* g2o: Use directly the binaries `ros-kinetic-libg2o`. However, [this g2o version](https://github.com/felixendres/g2o/tree/c++03) (c++03 branch) built from source may be faster than the binaries (install `libsuitesparse-dev` before building `g2o`) and would be [required to avoid some crashes](http://official-rtab-map-forum.67519.x6.nabble.com/ROS-2D-occupancy-grid-tp1204p1215.html). To build RTAB-Map against [latest official g2o version](https://github.com/RainerKuemmerle/g2o) built from source, g2o should be built with `-DBUILD_WITH_MARCH_NATIVE=OFF` to avoid some segmentation faults caused by Eigen.

* [GTSAM](https://collab.cc.gatech.edu/borg/gtsam): Follow installation instructions from [here](https://collab.cc.gatech.edu/borg/gtsam/#quickstart). RTAB-Map needs latest version from source, it will **not build** with 3.2.1. Set cmake variable `GTSAM_USE_SYSTEM_EIGEN=ON` to make sure the same Eigen version is used across all dependencies to avoid crashes.

        git clone https://bitbucket.org/gtborg/gtsam.git
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ 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 -j1


* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).

Build from source for Nvidia Jetson with OpenCV 4 Tegra

To use rtabmap_ros on Jetson, you can follow the instructions above if you don't care if OpenCV is built for Tegra. However, if you want rtabmap to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps: 1. Install JetPack with OpenCV on the Jetson. 2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu 3. Install non-opencv dependent ros packages:

* `sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev`
  1. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
  2. Create your catkin workspace
  3. Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
  4. To avoid libGL undefined errors:
     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so
  1. To avoid libvtkproj4 errors:
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ sudo make install
  1. Clone vision_opencv, image_transport_plugins and rtabmap_ros packages in your catkin_ws:
    $ cd ~/catkin_ws
    $ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
    $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
    $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros src/rtabmap_ros
    $ catkin_make -j2

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/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/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_multi-session_mapping.launch
      • rviz [default: false]
      • rtabmapviz [default: true]
      • rtabmap_args [default: ]
  • launch/demo/demo_appearance_mapping.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/demo/demo_hector_mapping.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • hector [default: true]
  • launch/demo/demo_turtlebot_rviz.launch
    • Used for visualising the turtlebot while building a map or navigating with the ros navistack.
  • launch/demo/demo_data_recorder.launch
  • launch/demo/demo_find_object.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • save_objects [default: false]
      • localization [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_stereo_pr2.launch
  • 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/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_mapping_client_stereo_nav.launch
  • launch/azimut3/az3_mapping_client.launch
  • launch/azimut3/az3_openni.launch
  • launch/azimut3/az3_remote_mapping_robot.launch
  • launch/azimut3/az3_remote_mapping_rviz.launch
  • launch/azimut3/az3_db_record.launch
  • launch/azimut3/az3_nav_client.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • sub_data [default: false]
  • launch/azimut3/az3_bag_mapping.launch
  • launch/azimut3/az3_mapping_robot_kinect_scan.launch
      • rtabmap_args [default: ]
      • localization [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_remote_find_object.launch
  • launch/azimut3/az3_mapping_robot_kinect_odom.launch
  • launch/azimut3/az3_mapping_robot.launch
  • launch/azimut3/az3_bag_record.launch
  • launch/azimut3/az3_mapping_robot_stereo_nav.launch
  • launch/azimut3/az3_nav_kinect-only.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/rtabmap.launch
      • stereo [default: false]
      • rtabmapviz [default: true]
      • rviz [default: false]
      • localization [default: false]
      • use_sim_time [default: false]
      • cfg [default: ]
      • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
      • rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
      • frame_id [default: camera_link]
      • odom_frame_id [default: ]
      • 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)]
      • launch_prefix [default: ]
      • output [default: screen]
      • approx_sync [default: false]
      • approx_sync [default: true]
      • 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]
      • compressed [default: false]
      • rgb_image_transport [default: compressed]
      • depth_image_transport [default: compressedDepth]
      • subscribe_scan [default: false]
      • scan_topic [default: /scan]
      • subscribe_scan_cloud [default: false]
      • scan_cloud_topic [default: /scan_cloud]
      • scan_normal_k [default: 0]
      • visual_odometry [default: true]
      • icp_odometry [default: false]
      • odom_topic [default: odom]
      • vo_frame_id [default: $(arg odom_topic)]
      • odom_tf_angular_variance [default: 1]
      • odom_tf_linear_variance [default: 1]
      • 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]
      • imu_topic [default: /imu]
      • subscribe_user_data [default: false]
      • user_data_topic [default: /user_data]
      • user_data_async_topic [default: /user_data_async]
      • 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)]
  • launch/tests/test_rgbd_image.launch
      • compressed [default: false]
  • 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_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_two_kinects_one_map.launch
  • launch/tests/euroc_datasets.launch
      • args [default: -d --RGBD/CreateOccupancyGrid false]
      • cfg [default: ]
      • MH_seq [default: false]
      • rtabmapviz [default: true]
      • rviz [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/bumblebee.launch
      • gen_depth [default: false]
  • launch/tests/test_icp_odometry.launch
      • rgbd [default: false]
      • pm [default: false]
      • nodelet [default: false]
  • launch/tests/test_obstacles_detection.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/sensor_fusion_kinect_brick.launch
      • localization [default: false]
      • uid
  • launch/tests/test_pointxyzrgb.launch
  • 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_map_optimizer.launch
  • launch/tests/rgbdslam_datasets.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • 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/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]

Messages

Services

Plugins

Recent questions tagged rtabmap_ros at answers.ros.org

rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

API Docs
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Wiki

Package Summary

Tags No category tags.
Version 0.17.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-09-29
Dev Status MAINTAINED
Released RELEASED

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 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.

Installation

ROS distribution

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

    $ sudo apt-get install ros-lunar-rtabmap-ros
  • Kinetic
    $ sudo apt-get install ros-kinetic-rtabmap-ros
  • Jade
    $ sudo apt-get install ros-jade-rtabmap-ros
  • Indigo
    $ sudo apt-get install ros-indigo-rtabmap-ros
  • Hydro:
    $ sudo apt-get install ros-hydro-rtabmap-ros


* Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see [Build from source](https://github.com/introlab/rtabmap_ros#build-from-source) below.

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

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

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic/Lunar (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar (Fuerte and Groovy are not supported).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. I will use kinetic prefix for convenience, but it should work with Hydro, Indigo, Jade and Lunar. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
    $ source /opt/ros/kinetic/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-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
          $ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
  1. Optional dependencies
    • If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS.
      • On Indigo/Jade, I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.
      • On Kinetic/Lunar, I recommend to use OpenCV3+xfeatures2d module already installed by ROS. You can also install OpenCV2, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic/Lunar, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV2.
* g2o: Use directly the binaries `ros-kinetic-libg2o`. However, [this g2o version](https://github.com/felixendres/g2o/tree/c++03) (c++03 branch) built from source may be faster than the binaries (install `libsuitesparse-dev` before building `g2o`) and would be [required to avoid some crashes](http://official-rtab-map-forum.67519.x6.nabble.com/ROS-2D-occupancy-grid-tp1204p1215.html). To build RTAB-Map against [latest official g2o version](https://github.com/RainerKuemmerle/g2o) built from source, g2o should be built with `-DBUILD_WITH_MARCH_NATIVE=OFF` to avoid some segmentation faults caused by Eigen.

* [GTSAM](https://collab.cc.gatech.edu/borg/gtsam): Follow installation instructions from [here](https://collab.cc.gatech.edu/borg/gtsam/#quickstart). RTAB-Map needs latest version from source, it will **not build** with 3.2.1. Set cmake variable `GTSAM_USE_SYSTEM_EIGEN=ON` to make sure the same Eigen version is used across all dependencies to avoid crashes.

        git clone https://bitbucket.org/gtborg/gtsam.git
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ 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 -j1


* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).

Build from source for Nvidia Jetson with OpenCV 4 Tegra

To use rtabmap_ros on Jetson, you can follow the instructions above if you don't care if OpenCV is built for Tegra. However, if you want rtabmap to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps: 1. Install JetPack with OpenCV on the Jetson. 2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu 3. Install non-opencv dependent ros packages:

* `sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev`
  1. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
  2. Create your catkin workspace
  3. Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
  4. To avoid libGL undefined errors:
     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so
  1. To avoid libvtkproj4 errors:
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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
    $ sudo make install
  1. Clone vision_opencv, image_transport_plugins and rtabmap_ros packages in your catkin_ws:
    $ cd ~/catkin_ws
    $ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
    $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
    $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros src/rtabmap_ros
    $ catkin_make -j2

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/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/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_multi-session_mapping.launch
      • rviz [default: false]
      • rtabmapviz [default: true]
      • rtabmap_args [default: ]
  • launch/demo/demo_appearance_mapping.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/demo/demo_hector_mapping.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • hector [default: true]
  • launch/demo/demo_turtlebot_rviz.launch
    • Used for visualising the turtlebot while building a map or navigating with the ros navistack.
  • launch/demo/demo_data_recorder.launch
  • launch/demo/demo_find_object.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • save_objects [default: false]
      • localization [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_stereo_pr2.launch
  • 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/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_mapping_client_stereo_nav.launch
  • launch/azimut3/az3_mapping_client.launch
  • launch/azimut3/az3_openni.launch
  • launch/azimut3/az3_remote_mapping_robot.launch
  • launch/azimut3/az3_remote_mapping_rviz.launch
  • launch/azimut3/az3_db_record.launch
  • launch/azimut3/az3_nav_client.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • sub_data [default: false]
  • launch/azimut3/az3_bag_mapping.launch
  • launch/azimut3/az3_mapping_robot_kinect_scan.launch
      • rtabmap_args [default: ]
      • localization [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_remote_find_object.launch
  • launch/azimut3/az3_mapping_robot_kinect_odom.launch
  • launch/azimut3/az3_mapping_robot.launch
  • launch/azimut3/az3_bag_record.launch
  • launch/azimut3/az3_mapping_robot_stereo_nav.launch
  • launch/azimut3/az3_nav_kinect-only.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/rtabmap.launch
      • stereo [default: false]
      • rtabmapviz [default: true]
      • rviz [default: false]
      • localization [default: false]
      • use_sim_time [default: false]
      • cfg [default: ]
      • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
      • rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
      • frame_id [default: camera_link]
      • odom_frame_id [default: ]
      • 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)]
      • launch_prefix [default: ]
      • output [default: screen]
      • approx_sync [default: false]
      • approx_sync [default: true]
      • 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]
      • compressed [default: false]
      • rgb_image_transport [default: compressed]
      • depth_image_transport [default: compressedDepth]
      • subscribe_scan [default: false]
      • scan_topic [default: /scan]
      • subscribe_scan_cloud [default: false]
      • scan_cloud_topic [default: /scan_cloud]
      • scan_normal_k [default: 0]
      • visual_odometry [default: true]
      • icp_odometry [default: false]
      • odom_topic [default: odom]
      • vo_frame_id [default: $(arg odom_topic)]
      • odom_tf_angular_variance [default: 1]
      • odom_tf_linear_variance [default: 1]
      • 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]
      • imu_topic [default: /imu]
      • subscribe_user_data [default: false]
      • user_data_topic [default: /user_data]
      • user_data_async_topic [default: /user_data_async]
      • 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)]
  • launch/tests/test_rgbd_image.launch
      • compressed [default: false]
  • 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_prior.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/tests/test_two_kinects_one_map.launch
  • launch/tests/euroc_datasets.launch
      • args [default: -d --RGBD/CreateOccupancyGrid false]
      • cfg [default: ]
      • MH_seq [default: false]
      • rtabmapviz [default: true]
      • rviz [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/bumblebee.launch
      • gen_depth [default: false]
  • launch/tests/test_icp_odometry.launch
      • rgbd [default: false]
      • pm [default: false]
      • nodelet [default: false]
  • launch/tests/test_obstacles_detection.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/sensor_fusion_kinect_brick.launch
      • localization [default: false]
      • uid
  • launch/tests/test_pointxyzrgb.launch
  • 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_map_optimizer.launch
  • launch/tests/rgbdslam_datasets.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • 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/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]

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rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

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Package Summary

Tags No category tags.
Version 0.11.8
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-07-20
Dev Status MAINTAINED
Released RELEASED

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.

Installation

ROS distribution

RTAB-Map is released as binaries in the ROS distribution. For latest binaries, use ros-shadow-fixed repository. * Kinetic

$ sudo apt-get install ros-kinetic-rtabmap-ros
  • Jade
$ sudo apt-get install ros-jade-rtabmap-ros
  • Indigo
$ sudo apt-get install ros-indigo-rtabmap-ros
  • Hydro:
$ sudo apt-get install ros-hydro-rtabmap-ros
  • Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see Build from source below.

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

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

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic (Fuerte and Groovy are not supported).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. I will use kinetic prefix for convenience, but it should work with Hydro, Indigo and Jade. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
$ source /opt/ros/kinetic/setup.bash
$ source ~/catkin_ws/devel/setup.bash
  • Make sure you don't have the binaries installed too (if you tried them before):
$ sudo apt-get remove ros-kinetic-rtabmap
  1. Optional dependencies
    • If you want SURF/SIFT on Indigo/Jade/Kinetic (Hydro has already SIFT/SURF), you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS. I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.
  • ROS (Qt, PCL, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap, CvBridge). Note that I've found that latest g2o version built from source is faster (install libsuitesparse-dev before building g2o) and would be required to avoid some crashes.
$ sudo apt-get install libqt4-dev libpcl-1.7-all-dev libdc1394-dev ros-kinetic-openni-launch ros-kinetic-openni2-launch ros-kinetic-freenect-launch ros-kinetic-costmap-2d ros-kinetic-octomap-ros ros-kinetic-g2o ros-kinetic-rviz ros-kinetic-cv-bridge

  • GTSAM: Follow installation instructions from here. RTAB-Map needs latest version from source (git clone https://bitbucket.org/gtborg/gtsam.git), it will not build with 3.2.1.

  • cvsba: Follow installation instructions from here. Their installation is not standard CMake, you need these extra steps so RTAB-Map can find it:

$ mkdir /usr/local/lib/cmake/cvsba 
$ mv /usr/local/lib/cmake/Findcvsba.cmake /usr/local/lib/cmake/cvsba/cvsbaConfig.cmake
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. 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 -j4
$ 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

Update to new version

$ cd rtabmap
$ git pull origin master
$ cd build
$ make
$ make install

$ roscd rtabmap_ros
$ git pull origin master
$ cd ~/catkin_ws
$ catkin_make
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/demo/demo_turtlebot_mapping.launch
      • database_path [default: rtabmap.db]
      • localization [default: false]
      • rgbd_odometry [default: false]
      • args [default: ]
      • rtabmapviz [default: false]
      • wait_for_transform [default: 0.2]
  • launch/demo/demo_stereo_outdoor.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/demo/demo_multi-session_mapping.launch
      • rviz [default: false]
      • rtabmapviz [default: true]
  • launch/demo/demo_appearance_mapping.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/demo/demo_hector_mapping.launch
      • rviz [default: true]
      • rtabmapviz [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_data_recorder.launch
  • launch/demo/demo_find_object.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • 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_stereo_pr2.launch
  • 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]
      • strategy [default: 0]
      • feature [default: 6]
      • nn [default: 3]
      • max_depth [default: 10.0]
      • min_inliers [default: 20]
      • inlier_distance [default: 0.02]
      • local_map [default: 1000]
      • gftt_max_corners [default: 1000]
      • gftt_min_distance [default: 7]
  • launch/stereo_mapping.launch
      • rtabmapviz [default: true]
      • rviz [default: false]
      • localization [default: false]
      • rtabmapviz_cfg [default: -d $(find rtabmap_ros)/launch/config/rgbd_gui.ini]
      • rviz_cfg [default: -d $(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]
      • namespace [default: rtabmap]
      • wait_for_transform [default: 0.2]
  • 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_mapping_client_stereo_nav.launch
  • launch/azimut3/az3_mapping_client.launch
  • launch/azimut3/az3_openni.launch
  • launch/azimut3/az3_remote_mapping_robot.launch
  • launch/azimut3/az3_remote_mapping_rviz.launch
  • launch/azimut3/az3_db_record.launch
  • launch/azimut3/az3_nav_client.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
      • sub_data [default: false]
  • launch/azimut3/az3_bag_mapping.launch
  • launch/azimut3/az3_mapping_robot_kinect_scan.launch
      • rtabmap_args [default: ]
      • localization [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_remote_find_object.launch
  • launch/azimut3/az3_mapping_robot_kinect_odom.launch
  • launch/azimut3/az3_mapping_robot.launch
  • launch/azimut3/az3_bag_record.launch
  • launch/azimut3/az3_mapping_robot_stereo_nav.launch
  • launch/azimut3/az3_nav_kinect-only.launch
      • localization [default: false]
      • rtabmap_args [default: ]
      • rtabmap_args [default: --delete_db_on_start]
  • launch/rtabmap.launch
      • stereo [default: false]
      • rtabmapviz [default: true]
      • rviz [default: false]
      • localization [default: false]
      • cfg [default: ]
      • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
      • rviz_cfg [default: -d $(find rtabmap_ros)/launch/config/rgbd.rviz]
      • frame_id [default: camera_link]
      • namespace [default: rtabmap]
      • database_path [default: ~/.ros/rtabmap.db]
      • queue_size [default: 10]
      • wait_for_transform [default: 0.2]
      • rtabmap_args [default: ]
      • launch_prefix [default: ]
      • approx_sync [default: true]
      • rgb_topic [default: /camera/rgb/image_rect_color]
      • depth_topic [default: /camera/depth_registered/image_raw]
      • camera_info_topic [default: /camera/rgb/camera_info]
      • 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]
      • rgb_image_transport [default: compressed]
      • 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_args [default: $(arg rtabmap_args)]
      • 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)]
  • 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/bumblebee.launch
      • gen_depth [default: false]
  • launch/tests/test_obstacles_detection.launch
      • optimize_for_close_objects [default: false]
  • launch/tests/sensor_fusion_kinect_brick.launch
      • localization [default: false]
  • launch/tests/test_pointxyzrgb.launch
  • launch/tests/rgbdslam_datasets.launch
      • rviz [default: true]
      • rtabmapviz [default: false]
  • launch/data_recorder.launch
      • subscribe_odometry [default: false]
      • subscribe_depth [default: true]
      • subscribe_stereo [default: false]
      • subscribe_scan [default: false]
      • stereo_approx_sync [default: false]
      • frame_id [default: camera_link]
      • odom_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]
      • odom_topic [default: odom]
      • scan_topic [default: scan]
      • rgb_image_transport [default: raw]
      • depth_image_transport [default: raw]
  • launch/rgbd_mapping.launch
      • rviz [default: false]
      • rtabmapviz [default: true]
      • localization [default: false]
      • rtabmapviz_cfg [default: -d $(find rtabmap_ros)/launch/config/rgbd_gui.ini]
      • rviz_cfg [default: -d $(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]
      • namespace [default: rtabmap]
      • wait_for_transform [default: 0.2]

Messages

Services

Plugins

Recent questions tagged rtabmap_ros at answers.ros.org

rtabmap_ros package from rtabmap_ros repo

rtabmap_ros

API Docs
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Wiki

Package Summary

Tags No category tags.
Version 0.8.12
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/introlab/rtabmap_ros.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-05-10
Dev Status MAINTAINED
Released RELEASED

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 the rtabmap_ros page on the ROS wiki.

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

Installation

ROS distribution

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

$ sudo apt-get install ros-indigo-rtabmap-ros
  • Hydro
$ sudo apt-get install ros-hydro-rtabmap-ros

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo (Fuerte and Groovy are not supported). * Note for ROS Indigo: If you want SURF/SIFT, you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS.

  • The next instructions assume that you have setup your ROS workspace using this tutorial. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
source /opt/ros/hydro/setup.bash
source ~/catkin_ws/devel/setup.bash
  1. First, you need to install the RTAB-Map standalone libraries (don't checkout in the Catkin workspace but install in your Catkin's devel folder).
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..  [<---double dots included]
$ make -j4
$ make install
  1. Now install the 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

Update to new version

$ cd rtabmap
$ git pull origin master
$ cd build
$ make
$ make install

$ roscd rtabmap_ros
$ git pull origin master
$ cd ~/catkin_ws
$ catkin_make
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

Services

Plugins

Recent questions tagged rtabmap_ros at answers.ros.org