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rtabmap
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=======
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[](http://introlab.github.io/rtabmap)
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[![Release][release-image]][releases]
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[![Downloads][downloads-image]][downloads]
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[](https://codecov.io/gh/introlab/rtabmap)
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[![License][license-image]][license]
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[release-image]: https://img.shields.io/github/v/release/introlab/rtabmap?color=green&style=flat
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[releases]: https://github.com/introlab/rtabmap/releases
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[downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
[downloads]: https://github.com/introlab/rtabmap/releases
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[license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat
[license]: https://github.com/introlab/rtabmap/blob/master/LICENSE
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RTAB-Map library and standalone application.
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* For more information (e.g., papers, major updates), visit [RTAB-Map's home page ](http://introlab.github.io/rtabmap ).
* For installation instructions and examples, visit [RTAB-Map's wiki ](https://github.com/introlab/rtabmap/wiki ).
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* For the C++ API of the library, see the [API documentation ](https://introlab.github.io/rtabmap/api/latest/ ), which also lists all [parameters ](https://introlab.github.io/rtabmap/api/latest/parameters.html ) and [command-line tools ](https://introlab.github.io/rtabmap/api/latest/tools.html ).
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To use RTAB-Map under ROS, visit the [rtabmap ](http://wiki.ros.org/rtabmap ) page on the ROS wiki.
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### Acknowledgements
This project is supported by [IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab ](https://introlab.3it.usherbrooke.ca/ ), Sherbrooke, Québec, Canada.
<a href="https://introlab.3it.usherbrooke.ca/">
<img src="https://github.com/introlab/16SoundsUSB/blob/master/images/IntRoLab.png" alt="IntRoLab" height="100">
</a>
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#### CI Latest
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| | Build |
|---|---|
| Desktop | [](https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml) [](https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml) [](https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml) |
| ROS | [](https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml) [](https://github.com/introlab/rtabmap/actions/workflows/docker-ros.yml) |
| Mobile | [](https://github.com/introlab/rtabmap/actions/workflows/android.yml) [](https://github.com/introlab/rtabmap/actions/workflows/ios.yml) |
| Quality | [](https://github.com/introlab/rtabmap/actions/workflows/coverage.yml) [](https://github.com/introlab/rtabmap/actions/workflows/docs.yml) |
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#### ROS Binaries
`ros-$ROS_DISTRO-rtabmap`
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| | Distro | Ubuntu | Released | In apt | Build |
|---|---|---|---|---|---|
| ROS 1 | Noetic (EOL) | 20.04 | [](https://github.com/ros/rosdistro/blob/master/noetic/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#noetic ) | |
| ROS 2 | Humble | 22.04 | [](https://github.com/ros/rosdistro/blob/master/humble/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#humble ) | [](http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/) |
| ROS 2 | Iron (EOL) | 22.04 | [](https://github.com/ros/rosdistro/blob/master/iron/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#iron ) | |
| ROS 2 | Jazzy | 24.04 | [](https://github.com/ros/rosdistro/blob/master/jazzy/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#jazzy ) | [](http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/) |
| ROS 2 | Kilted | 24.04 | [](https://github.com/ros/rosdistro/blob/master/kilted/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#kilted ) | [](http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/) |
| ROS 2 | Lyrical | 26.04 | [](https://github.com/ros/rosdistro/blob/master/lyrical/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#lyrical ) | [](http://build.ros2.org/job/Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/) |
| ROS 2 | Rolling | 26.04 | [](https://github.com/ros/rosdistro/blob/master/rolling/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#rolling ) | [](http://build.ros2.org/job/Rbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/) |
| Docker | [rtabmap ](https://hub.docker.com/r/introlab3it/rtabmap ) | | |  | |
*Released* is the version bloomed into [rosdistro ](https://github.com/ros/rosdistro ); *In apt* is what `apt install` actually gives you today. They differ while a release is waiting on a buildfarm sync.
