rtabmap_ros

RTAB-Map ROS package.

For more information about this package, visit the rtabmap_ros page on the ROS wiki.

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

Installation

For the standalone version, visit RTAB-Map's wiki for installation instructions.

ROS distribution

RTAB-Map is released as binaries in the ROS distribution. Example for ROS hydro:

$ sudo apt-get install ros-hydro-rtabmap_ros

Build from source

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

Note for ROS Indigo: If you want SURF/SIFT, you have to build OpenCV from source to have access to nonfree module. See issue 8 for more details.

The next instructions assume that you have setup your ROS workspace using this tutorial. The workspace path is ~/catkin_ws and your ~/.bashrc contains:

source /opt/ros/hydro/setup.bash
source ~/catkin_ws/devel/setup.bash

First, you need to install the RTAB-Map standalone libraries in your Catkin workspace.

$ svn checkout https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..  [<---double dots included]
$ make -j4
$ make install

Now install the RTAB-Map ros-pkg in your src folder of your Catkin workspace.

$ cd ~/catkin_ws
$ svn checkout https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make

See rtabmap_ros for launch file examples.

Update to new version

~$ cd rtabmap
~/rtabmap$ svn up
~/rtabmap$ cd build
~/rtabmap/build$ make
~/rtabmap/build$ make install

~/rtabmap/build$ cd ~/catkin_ws
~/catkin_ws$ catkin_make