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rtabmap_ros [](https://travis-ci.org/introlab/rtabmap_ros)
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rtabmap_ros
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===========
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RTAB-Map's ROS package.
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For more information, demos and tutorials about this package, visit [rtabmap_ros](http://wiki.ros.org/rtabmap_ros) page on ROS wiki.
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For the RTAB-Map libraries and standalone application, visit [RTAB-Map's home page](http://introlab.github.io/rtabmap) or [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
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RTAB-Map's ROS2 package (branch `ros2`). **IN CONSTRUCTION**: 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)). See `launch/ros2` subfolder for some ROS2 examples with turtlebot3 in simulation (tested under ROS2 Eloquent distro).
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# Installation
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## ROS distribution
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RTAB-Map is released as binaries in the ROS distribution.
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* Melodic
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```
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$ sudo apt-get install ros-melodic-rtabmap-ros
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```
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* Lunar
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```
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$ sudo apt-get install ros-lunar-rtabmap-ros
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```
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* Kinetic
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```
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$ sudo apt-get install ros-kinetic-rtabmap-ros
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```
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* Jade
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```
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$ sudo apt-get install ros-jade-rtabmap-ros
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```
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* Indigo
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```
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$ sudo apt-get install ros-indigo-rtabmap-ros
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```
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* For armhf architecture, `ros-indigo-rtabmap-ros` is not available. Install `ros-indigo-rtabmap` and build from source `rtabmap_ros` using the `indigo-devel` branch.
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```
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$ cd catkin_ws
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$ git clone -b indigo-devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
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$ catkin_make -j1
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```
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* Hydro:
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```
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$ sudo apt-get install ros-hydro-rtabmap-ros
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```
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* 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.
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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:
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```bash
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$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/melodic/lib/x86_64-linux-gnu
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```
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### Docker
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* Go to [docker](https://github.com/introlab/rtabmap_ros/tree/master/docker) directory for an example.
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## Build from source
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This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Kinetic/Lunar/Melodic** (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar/Melodic (**Fuerte and Groovy are not supported**).
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* The next instructions assume that you have set up your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). I will use melodic prefix for convenience, but it should work with Hydro, Indigo, Jade, Kinetic and Lunar. The workspace path is `~/catkin_ws` and your `~/.bashrc` contains:
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```bash
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$ source /opt/ros/melodic/setup.bash
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$ source ~/catkin_ws/devel/setup.bash
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```
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0. Required dependencies
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* The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:
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```bash
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$ sudo apt-get install ros-melodic-rtabmap ros-melodic-rtabmap-ros
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$ sudo apt-get remove ros-melodic-rtabmap ros-melodic-rtabmap-ros
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```
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1. Optional dependencies
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* If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build [OpenCV]([OpenCV](http://opencv.org/)) 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.
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* On Indigo/Jade, I recommend to use latest 2.4 version ([2.4.11](https://github.com/Itseez/opencv/archive/2.4.11.zip)) and build it from source following these [instructions](http://docs.opencv.org/doc/tutorials/introduction/linux_install/linux_install.html#building-opencv-from-source-using-cmake-using-the-command-line). RTAB-Map can build with OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/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](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV3.
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* On Kinetic/Lunar/Melodic, I recommend to use OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/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/Melodic, you should build ros [vision-opencv](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV2.
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* g2o: Use directly the binaries `ros-melodic-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.
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* [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.
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```bash
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git clone https://bitbucket.org/gtborg/gtsam.git
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```
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2. 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**.
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```bash
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$ cd ~
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$ git clone https://github.com/introlab/rtabmap.git rtabmap
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$ cd rtabmap/build
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$ cmake .. [<---double dots included]
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$ make
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$ sudo make install
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```
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3. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.
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```bash
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$ cd ~/catkin_ws
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$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
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$ catkin_make -j1
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```
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* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).
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## Build from source for Nvidia Jetson with OpenCV 4 Tegra
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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](https://github.com/ros-perception/vision_opencv) stack from source too to avoid conflicts with [vision_opencv](https://github.com/ros-perception/vision_opencv) stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps:
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1. Install [JetPack](https://developer.nvidia.com/embedded/jetpack) with OpenCV on the Jetson.
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2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu
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3. Install non-opencv dependent ros packages:
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* `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`
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4. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
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5. [Create your catkin workspace](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)
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6. *Optional:* Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
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7. To avoid [libGL undefined errors](https://devtalk.nvidia.com/default/topic/1007290/jetson-tx2/building-opencv-with-opengl-support-/post/5141945/#5141945):
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```
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$ cd /usr/lib/aarch64-linux-gnu/
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$ sudo ln -sf tegra/libGL.so libGL.so
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```
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8. To avoid [libvtkproj4 errors](https://github.com/PointCloudLibrary/pcl/issues/1594#issuecomment-283873617):
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```
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$ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
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$ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0
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```
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9. 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**.
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```bash
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$ cd ~
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$ git clone https://github.com/introlab/rtabmap.git rtabmap
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$ cd rtabmap/build
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$ cmake .. [<---double dots included]
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$ make
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$ sudo make install
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```
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10. Clone [vision_opencv](https://github.com/ros-perception/vision_opencv), [image_transport_plugins](https://github.com/ros-perception/image_transport_plugins) and `rtabmap_ros` packages in your catkin_ws:
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* RTAB-Map library:
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```bash
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$ cd ~/catkin_ws
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$ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
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$ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
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$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
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$ catkin_make -j2
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```
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### Update to new version
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```bash
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###########
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# rtabmap
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###########
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$ cd rtabmap
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$ git pull origin master
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$ cd build
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$ make
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$ make install
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# Do "sudo make install" if you installed rtabmap in "/usr/local"
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###########
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# rtabmap_ros
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###########
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$ roscd rtabmap_ros
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$ git pull origin master
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$ roscd
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$ cd ..
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$ catkin_make -j1 --pkg rtabmap_ros
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```
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$ cd ~
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$ git clone https://github.com/introlab/rtabmap.git rtabmap
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$ cd rtabmap/build
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$ cmake ..
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$ make -j4
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$ sudo make install
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```
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* RTAB-Map ROS2 package:
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```bash
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$ cd ~/ros2_ws
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$ git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
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$ colcon build
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```
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# Example
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```bash
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$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
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$ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
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```
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