mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
P. J. Reed
160ac38e06
As noted by Dirk Thomas in ros2/rosidl#441, libraries for generated
interfaces must use ${PROJECT_NAME} as their basename. This PR
modifies rtabmap_ros so that it does so.
It also tweaks a couple of rosdep keys because nav2_common was used in
some launch files but not included, and message_runtime does not exist
in ROS 2.
Fixes #397
rtabmap_ros
RTAB-Map's ROS2 package (branch ros2). UNDER 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). See launch/ros2 subfolder for some ROS2 examples with turtlebot3 in simulation (tested under ROS2 Eloquent distro).
Installation
- RTAB-Map library:
$ cd ~ $ git clone https://github.com/introlab/rtabmap.git rtabmap $ cd rtabmap/build $ cmake .. $ make -j4 $ sudo make install - RTAB-Map ROS2 package:
$ cd ~/ros2_ws $ git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros $ colcon build
Example
```bash
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
$ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
```