mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
matlabbe
3f6adad463
* 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
rtabmap_demos
- 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
- 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
ros2 launch rtabmap_demos stereo_outdoor_demo.launch.py
Indoor 2D LiDAR and RGB-D SLAM
ros2 launch rtabmap_demos robot_mapping_demo.launch.py rviz:=true rtabmap_viz:=true
Multi-Session Indoor 2D LiDAR and RGB-D SLAM
ros2 launch rtabmap_demos multisession_mapping_demo.launch.py
Find-Object with SLAM
ros2 launch rtabmap_demos find_object_demo.launch.py
Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
ros2 launch rtabmap_demos turtlebot4_sim_demo.launch.py
Turtlebot3 Nav2 and 2D LiDAR SLAM
ros2 launch rtabmap_demos turtlebot3_sim_scan_demo.launch.py
Turtlebot3 Nav2 and RGB-D SLAM
ros2 launch rtabmap_demos turtlebot3_sim_rgbd_demo.launch.py
Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM
ros2 launch rtabmap_demos turtlebot3_sim_rgbd_scan_demo.launch.py
Champ Quadruped Nav2, Elevation Map and VSLAM
ros2 launch rtabmap_demos champ_sim_vslam.launch.py
Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM
ros2 launch rtabmap_demos husky_sim_scan2d_demo.launch.py
Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM
ros2 launch rtabmap_demos husky_sim_scan3d_demo.launch.py
Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM
ros2 launch rtabmap_demos husky_sim_scan3d_assemble_demo.launch.py
Isaac Sim Nav2 and Stereo SLAM
ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py
Isaac Sim Nav2 and RGB-D VSLAM
ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py stereo:=false vo:=rtabmap