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matlabbe 2eef2b3231 Lyrical support (#1433 )

* Lyrical support

* removed dep not available on lyrical

* updated docker lyrcical

* making cmake less verbose, disabled tests on rtabmap_python

* cleanup not used tests in rtabmap_python

* addressing some lyrical deprecated warnings

* cancel pr jobs on recommit

* small refactor

* disabled lyrical bin docker

* restored python test and fixed error

* trigger ci

* fixing docker lyrical

* disabled rtabmap_ros lyrical

* pytest

* fixing packages-skip

* bump 0.23.7

2026-06-21 12:55:28 -07:00

launch

Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

2025-11-11 18:32:18 -08:00

CMakeLists.txt

merged master->ros2

2023-04-09 12:32:43 -07:00

package.xml

Lyrical support (#1433 )

2026-06-21 12:55:28 -07:00

README.md

ROS2 various QOL updates (preparing new binary release) (#1225 )

2024-11-30 17:28:16 -08:00

README.md

Usage

rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data

The ROS2 equivalent is (using latest zed_wrapper launch file):

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
    publish_tf:=false \
    publish_map_tf:=false

ros2 launch rtabmap_launch rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=zed_camera_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    rviz:=true