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rtabmap_ros [![Build Status](https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml/badge.svg)](https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml)
rtabmap_ros
===========
RTAB-Map's ROS2 package (branch `ros2`). **ROS2 Foxy minimum required**: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on [rtabmap_ros](http://wiki.ros.org/rtabmap_ros)).
#### CI Latest
<table>
<tbody>
<tr>
<td>ROS 1</td>
<td><a href="https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
</td>
</tr>
<tr>
<td>ROS 2</td>
<td><a href="https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml/badge.svg" alt="Build Status"/>
</td>
</tr>
</tbody>
</table>
#### ROS Binaries
<table>
<tbody>
<tr>
<td rowspan="2">ROS 1</td>
<td>Melodic</td>
<td><a href="http://build.ros.org/job/Mbin_ubv8_uBv8__rtabmap_ros__ubuntu_bionic_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Mbin_ubv8_uBv8__rtabmap_ros__ubuntu_bionic_arm64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Noetic</td>
<td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td rowspan="4">ROS 2</td>
<td>Foxy</td>
<td><a href="http://build.ros2.org/job/Fbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Fbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Galactic</td>
<td><a href="http://build.ros2.org/job/Gbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Gbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Humble</td>
<td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Rolling</td>
<td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
</tr>
</tbody>
</table>
# Usage
`rtabmap.launch` is also ported to ROS2 with same arguments. If you see [ROS1 examples](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) like this:
```bash
@@ -17,6 +69,7 @@ roslaunch rtabmap_ros rtabmap.launch \
approx_sync:=false \
wait_imu_to_init:=true \
imu_topic:=/zed_node/imu/data
```
The ROS2 equivalent is (with those [lines](https://github.com/stereolabs/zed-ros2-wrapper/blob/b512dce6ad4565f4770273995b147122e735ca0f/zed_wrapper/config/common.yaml#L58-L60) set to false to avoid TF conflicts):