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.

• 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

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo/Jade (Fuerte and Groovy are not supported).

• Note for ROS Indigo/Jade: 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. I will use indigo prefix for conveninence, but it should work with hydro and jade. The workspace path is ~/catkin_ws and your ~/.bashrc contains:

source /opt/ros/indigo/setup.bash
source ~/catkin_ws/devel/setup.bash

0. Optional dependencies

• ROS (Qt, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap):

$ sudo apt-get install libqt4-dev libdc1394-dev ros-indigo-openni-launch ros-indigo-openni2-launch ros-indigo-freenect-launch ros-indigo-costmap-2d ros-indigo-octomap-ros ros-indigo-g2o ros-indigo-rviz

Note that I've found that [latest g2o version](https://github.com/RainerKuemmerle/g2o) built from source is faster.

• GTSAM: Follow installation instructions from here. RTAB-Map needs latest version from source, 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.

1. Install the RTAB-Map standalone libraries (don't checkout in the Catkin workspace but install in your Catkin's devel folder).

$ cd ~
$ 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

2. 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