i/rtabmap_ros

mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00

T

Windel Bouwman 176e76bfc1 Fix logic when building without rviz.

2021-09-21 10:57:30 +02:00

.github/workflows

Update ros2.yml

2021-09-14 16:32:12 -04:00

fixed build bor rtabmap 0.10.1

2015-06-28 20:40:57 -04:00

Update README.md

2019-11-09 09:04:26 -05:00

cleanup ros-pkg

2014-03-03 21:43:20 +00:00

include/rtabmap_ros

fix possible stackunderflow in CoreWrapper constructed function

2021-08-23 11:52:17 +08:00

node_executable is deprecated

2021-07-13 09:05:07 +02:00

created ros2 branch

2020-01-30 17:18:48 -05:00

💄

2019-11-07 15:24:02 -05:00

fix possible stackunderflow in CoreWrapper constructed function

2021-08-23 11:52:17 +08:00

created ros2 branch

2020-01-30 17:18:48 -05:00

.cproject

Updated with rtabmap-0.19.5, added tange_min and range_max parameters to point_cloud_assembler nodelet

2019-08-01 16:31:10 -04:00

.project

Updated with rtabmap-0.19.5, added tange_min and range_max parameters to point_cloud_assembler nodelet

2019-08-01 16:31:10 -04:00

.travis.yml

travis: eloquent->foxy

2021-09-04 11:56:37 -04:00

CMakeLists.txt

Fix logic when building without rviz.

2021-09-21 10:57:30 +02:00

costmap_plugins.xml

Patch for issue #382

2020-01-16 15:21:13 -05:00

eclipse-launch.sh

cleanup ros-pkg

2014-03-03 21:43:20 +00:00

LICENSE

Updated copyright years

2016-07-17 22:06:11 -04:00

mainpage.dox

added mainpage.dox

2014-11-28 10:12:56 -05:00

Makefile

cleanup ros-pkg

2014-03-03 21:43:20 +00:00

package.xml

Add tf2_eigen dependency

2021-07-09 08:52:26 +02:00

README.md

Update README.md

2021-09-14 15:41:50 -04:00

rviz_plugins.xml

created ros2 branch

2020-01-30 17:18:48 -05:00

README.md

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 (requires at least ROS2 Foxy).

Installation

RTAB-Map ROS2 package:

$ cd ~/ros2_ws
$ git clone https://github.com/introlab/rtabmap.git src/rtabmap
$ git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM
$ colcon build

Example

$ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/ros2_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models
$ export TURTLEBOT3_MODEL=waffle
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
$ ros2 launch rtabmap_ros turtlebot3_scan.launch.py