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

Files

T

matlabbe 3f6adad463 ROS2 various QOL updates (preparing new binary release) (#1225 )

* Updating examples and README

* updated main readme

* odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning.

* update readme

* Added husky demo

* converted demo_robot_mapping.launch to ros2

* Converted stereo_outdoor demo from ros1 to ros2

* Converted multi-session demo to ros2

* Converted demo_find_object launch to ros2

* renamed files

* uniformized default qos, increased sync_queue_size default to 10

* Added vlp16 + imu example

* Added husky 3D lidar demos

* moved demos in subdir

* Added vlp16+zed example

* rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo.

* forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo

* pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces

* Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them.

* Added isaac sim demo

* Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty.

* Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo.

* rtabmap_demos: added README with examples

* Added TOC

* bump version to 0.21.9

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

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rtabmap_ros

RTAB-Map's ROS2 package (branch ros2). ROS2 Foxy minimum required: currently most nodes are ported to ROS2. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on rtabmap_ros).

CI Latest

ROS 1
ROS 2

ROS Binaries

ROS 1	Noetic
ROS 2	Humble
	Iron
	Jazzy
	Rolling
Docker	rtabmap_ros

Usage

For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see rtabmap_examples sub-folder.
For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see rtabmap_demos sub-folder.

Logging

To make RTAB-Map's logs appear ordered with RCLCPP's logs, set the following environment variables in your .bashrc (see official "About Logging" documentation for more info):

export RCUTILS_LOGGING_USE_STDOUT=1
export RCUTILS_LOGGING_BUFFERED_STREAM=1
# Optional, but if you like colored logs:
export RCUTILS_COLORIZED_OUTPUT=1

Recommended DDS

If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), it may be caused by the DDS. I recommend to use Cyclone DDS, you can try it by adding this before launching any nodes/launch files:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Installation

Binaries

sudo apt install ros-$ROS_DISTRO-rtabmap-ros

From Source

Make sure to uninstall any rtabmap binaries:
```
sudo apt remove ros-$ROS_DISTRO-rtabmap*
```

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
rosdep update && rosdep install --from-paths src --ignore-src -r -y
export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

To build with rgbd_cameras>1 support and/or subscribe_user_data support:

colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

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