rtabmap_demos
- Outdoor Stereo VSLAM
- Indoor 2D LiDAR and RGB-D SLAM
- Multi-Session Indoor 2D LiDAR and RGB-D SLAM
- Find-Object with SLAM
- Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
- Turtlebot3 Nav2 and 2D LiDAR SLAM
- Turtlebot3 Nav2 and RGB-D SLAM
- Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM
- Turtlebot3 Nav2, Fake 2D LiDAR and RGB-D SLAM
- Turtlebot3 Nav2, 2D LiDAR SLAM with FusionCore (IMU + wheel UKF)
- Champ Quadruped Nav2, Elevation Map and VSLAM
- Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM
- Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM
- Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM
- Isaac Sim Nav2 and Stereo SLAM
- Isaac Sim Nav2 and RGB-D VSLAM
Outdoor Stereo VSLAM
stereo_outdoor_demo.launch.py (Video)
Indoor 2D LiDAR and RGB-D SLAM
robot_mapping_demo.launch.py (Videos: rtabmap_viz, rviz)
Multi-Session Indoor 2D LiDAR and RGB-D SLAM
multisession_mapping_demo.launch.py (Video)
Find-Object with SLAM
find_object_demo.launch.py (Video)
Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
Turtlebot3 Nav2 and 2D LiDAR SLAM
turtlebot3_sim_scan_demo.launch.py
Turtlebot3 Nav2 and RGB-D SLAM
turtlebot3_sim_rgbd_demo.launch.py
Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM
turtlebot3_sim_rgbd_scan_demo.launch.py
Turtlebot3 Nav2, Fake 2D LiDAR and RGB-D SLAM
turtlebot3_sim_rgbd_fake_scan_demo.launch.py
- Red: Scan generated from camera's depth.
- Orange: Locally assembled scans used for proximity detection.
- Yellow: The map.
Turtlebot3 Nav2, 2D LiDAR SLAM with FusionCore (IMU + wheel UKF)
turtlebot3_sim_fusioncore_icp_demo.launch.py (Jazzy + Gazebo Harmonic)
FusionCore (wheel + IMU UKF) and icp_odometry run in a feedback loop: FusionCore's stable odom frame seeds scan matching via guess_frame_id, and the ICP result feeds back into FusionCore as a second velocity source. See README for architecture details.
Champ Quadruped Nav2, Elevation Map and VSLAM
Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM
husky_sim_scan2d_demo.launch.py
Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM
husky_sim_scan3d_demo.launch.py
Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM
husky_sim_scan3d_assemble_demo.launch.py
Isaac Sim Nav2 and Stereo SLAM
isaac_sim_vslam_demo.launch.py
Isaac Sim Nav2 and RGB-D VSLAM
isaac_sim_vslam_demo.launch.py stereo:=false vo:=rtabmap