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

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

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

Packages

Name	Version
rtabmap_ros	0.17.6

README

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. * 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

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

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

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

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`

Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
Create your catkin workspace
Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
To avoid libGL undefined errors:

     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so

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

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

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

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

Packages

Name	Version
rtabmap_ros	0.17.6

README

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. * 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

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

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

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

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`

Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
Create your catkin workspace
Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
To avoid libGL undefined errors:

     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so

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

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

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

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

Packages

Name	Version
rtabmap_ros	0.17.6

README

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. * 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

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

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

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

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`

Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
Create your catkin workspace
Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
To avoid libGL undefined errors:

     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so

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

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

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

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

Packages

Name	Version
rtabmap_ros	0.17.6

README

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. * 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

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

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

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

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`

Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
Create your catkin workspace
Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
To avoid libGL undefined errors:

     $ cd /usr/lib/aarch64-linux-gnu/
     $ sudo ln -sf tegra/libGL.so libGL.so

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

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

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

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

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

Packages

Name	Version
rtabmap_ros	0.11.8

README

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

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

Freenect2: Follow installation instructions from here.

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

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

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

Packages

Name	Version
rtabmap_ros	0.8.12

README

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

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

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

rtabmap_ros repository

Repository Summary

Packages

README

rtabmap_ros

Installation

ROS distribution

Build from source

Build from source for Nvidia Jetson with OpenCV 4 Tegra

Update to new version

Repository Summary

Packages

README

rtabmap_ros

Installation

ROS distribution

Build from source

Build from source for Nvidia Jetson with OpenCV 4 Tegra

Update to new version

Repository Summary

Packages

README

rtabmap_ros

Installation

ROS distribution

Build from source

Build from source for Nvidia Jetson with OpenCV 4 Tegra

Update to new version

Repository Summary

Packages

README

rtabmap_ros

Installation

ROS distribution

Build from source

Build from source for Nvidia Jetson with OpenCV 4 Tegra

Update to new version

Repository Summary

Packages

README

rtabmap_ros

Installation

ROS distribution

Build from source

Update to new version

Repository Summary

Packages

README

rtabmap_ros

Installation

ROS distribution

Build from source

Update to new version