rtabmap_ros

RTAB-Map's ROS2 package (branch ros2). UNDER CONSTRUCTION: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on rtabmap_ros). See launch/ros2 subfolder for some ROS2 examples with turtlebot3 in simulation (tested under ROS2 Eloquent distro).

Installation

• RTAB-Map library:

   $ cd ~
   $ git clone https://github.com/introlab/rtabmap.git rtabmap
   $ cd rtabmap/build
   $ cmake ..
   $ make -j4
   $ sudo make install
   $ sudo ldconfig
  

• RTAB-Map ROS2 package:

  $ cd ~/ros2_ws
  $ git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
  $ colcon build
  

Example

$ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/ros2_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models
$ export TURTLEBOT3_MODEL=waffle
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
$ ros2 launch rtabmap_ros turtlebot3_scan.launch.py