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Added Docker example
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rtabmap_ros Build Status

RTAB-Map's ROS package.

For more information, demos and tutorials about this package, visit rtabmap_ros page on ROS wiki.

For the RTAB-Map libraries and standalone application, visit RTAB-Map's home page or RTAB-Map's wiki.

Installation

ROS distribution

RTAB-Map is released as binaries in the ROS distribution.

  • Lunar 
    $ sudo apt-get install ros-lunar-rtabmap-ros
  • Kinetic 
    $ sudo apt-get install ros-kinetic-rtabmap-ros
  • Jade 
    $ sudo apt-get install ros-jade-rtabmap-ros
  • Indigo 
    $ sudo apt-get install ros-indigo-rtabmap-ros
    • For armhf architecture, ros-indigo-rtabmap-ros is not available. Install ros-indigo-rtabmap and build from source rtabmap_ros using the indigo-devel branch. 
      $ cd catkin_ws
$ git clone -b indigo-devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make -j1
  • Hydro: 
    $ sudo apt-get install ros-hydro-rtabmap-ros
    • Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see Build from source below.

When launching rtabmap_ros's nodes, if you have the error error while loading shared libraries..., add the next line at the end of your ~/.bashrc to fix it:

$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kinetic/lib/x86_64-linux-gnu

Docker

  • Install rtabmap inside an official ros docker image (example with melodic):

    $ docker pull ros:melodic-perception
$ docker run -it --rm --name=ros-melodic-rtabmap ros:melodic-perception

# Indide the container:
$ apt update && apt install -y ros-melodic-rtabmap-ros && echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

# Before exiting the container, commit from another terminal on host:
$ docker commit ros-melodic-rtabmap ros:melodic-rtabmap
# exit container...
    • Note that we could build rtabmap from source in the container if we want latest version, following instructions below. Just make sure to do "echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc" in the container so that the following example can still work as is.

  • The following example show to launch a camera on host computer and run our pre-built rtabmap container. All examples from RGB-D tutorial and stereo tutorial should work using rtabmap from the container instead. Launch camera on host computer (set ROS_IP as the IP used for docker):

    $ export ROS_IP=172.17.0.1 && roslaunch openni2_launch openni2.launch depth_registration:=true
# In another terminal, launch rtabmapviz or RVIZ. We do visualization 
# on host computer to avoid GPU problems with the container:
$ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link

  • Launch rtabmap from inside the container, saving the database on host ~/.ros/rtabmap.db:

    $ docker run -it --rm \
 --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
 -v ~/.ros:/root  \
 ros:melodic-rtabmap \
 roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic/Lunar (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar (Fuerte and Groovy are not supported).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. I will use kinetic prefix for convenience, but it should work with Hydro, Indigo, Jade and Lunar. The workspace path is ~/catkin_ws and your ~/.bashrc contains:

    $ source /opt/ros/kinetic/setup.bash
$ source ~/catkin_ws/devel/setup.bash

  1. Required dependencies

    • The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries: 
      $ sudo apt-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
$ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros

  2. Optional dependencies

    • If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS.

      • On Indigo/Jade, I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.
      • On Kinetic/Lunar, I recommend to use OpenCV3+xfeatures2d module already installed by ROS. You can also install OpenCV2, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic/Lunar, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV2.

    • g2o: Use directly the binaries ros-kinetic-libg2o. However, this g2o version (c++03 branch) built from source may be faster than the binaries (install libsuitesparse-dev before building g2o) and would be required to avoid some crashes. To build RTAB-Map against latest official g2o version built from source, g2o should be built with -DBUILD_WITH_MARCH_NATIVE=OFF to avoid some segmentation faults caused by Eigen.

    • GTSAM: Follow installation instructions from here. RTAB-Map needs latest version from source, it will not build with 3.2.1. Set cmake variable GTSAM_USE_SYSTEM_EIGEN=ON to make sure the same Eigen version is used across all dependencies to avoid crashes.

      git clone https://bitbucket.org/gtborg/gtsam.git

  3. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. Do not clone in your Catkin workspace.

    $ cd ~
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake ..  [<---double dots included]
$ make
$ sudo make install

  4. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.

    $ cd ~/catkin_ws
$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make -j1
    • Use catkin_make -j1 if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).

Build from source for Nvidia Jetson with OpenCV 4 Tegra

To use rtabmap_ros on Jetson, you can follow the instructions above if you don't care if OpenCV is built for Tegra. However, if you want rtabmap to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps:

  1. Install JetPack with OpenCV on the Jetson.

  2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu

  3. Install non-opencv dependent ros packages:

    • sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev

  4. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu

  5. Create your catkin workspace

  6. Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).

  7. To avoid libGL undefined errors:

    $ cd /usr/lib/aarch64-linux-gnu/
$ sudo ln -sf tegra/libGL.so libGL.so

  8. To avoid libvtkproj4 errors:

    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
$ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0

  9. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. Do not clone in your Catkin workspace.

    $ cd ~
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake ..  [<---double dots included]
$ make
$ sudo make install

  10. Clone vision_opencv, image_transport_plugins and rtabmap_ros packages in your catkin_ws:

 $ cd ~/catkin_ws
 $ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
 $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
 $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
 $ catkin_make -j2

Update to new version

###########
# rtabmap
###########
$ cd rtabmap
$ git pull origin master
$ cd build
$ make
$ make install
# Do "sudo make install" if you installed rtabmap in "/usr/local"

###########
# rtabmap_ros
###########
$ roscd rtabmap_ros
$ git pull origin master
$ roscd
$ cd ..
$ catkin_make -j1 --pkg rtabmap_ros
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