rtabmap_ros repository

rtabmap_conversions rtabmap_demos rtabmap_examples rtabmap_launch rtabmap_msgs rtabmap_odom rtabmap_python rtabmap_ros rtabmap_rviz_plugins rtabmap_slam rtabmap_sync rtabmap_util rtabmap_viz

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2025-07-13
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.22.1
rtabmap_demos	0.22.1
rtabmap_examples	0.22.1
rtabmap_launch	0.22.1
rtabmap_msgs	0.22.1
rtabmap_odom	0.22.1
rtabmap_python	0.22.1
rtabmap_ros	0.22.1
rtabmap_rviz_plugins	0.22.1
rtabmap_slam	0.22.1
rtabmap_sync	0.22.1
rtabmap_util	0.22.1
rtabmap_viz	0.22.1

README

rtabmap_ros

RTAB-Map’s ROS2 package (branch ros2). ROS2 Humble 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

</td> </tr>

ROS 2

</td> </tr> </tbody> </table> #### ROS Binaries </tbody> </table> # Usage * For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see [rtabmap_examples](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch) sub-folder. * For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see [rtabmap_demos](https://github.com/introlab/rtabmap_ros/tree/ros2/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](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Logging.html)" documentation for more info): ```bash 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](https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`): ```bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Cyclone prefers multicast by default, if your router got too much spammed, # disable multicast with (https://github.com/ros2/rmw_cyclonedds/issues/489): export CYCLONEDDS_URI="0.0.0.0</></>" ``` # Installation ### Binaries ```bash 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: ```bash 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 ``` File truncated at 100 lines [see the full file](https://github.com/introlab/rtabmap_ros/tree/humble-devel/README.md)

ROS 1	Noetic	</td> </tr>
ROS 2	Humble	</td> </tr>
	Jazzy	</td> </tr>
	Rolling	</td> </tr>
	Docker	rtabmap_ros

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_demos rtabmap_examples rtabmap_launch rtabmap_msgs rtabmap_odom rtabmap_python rtabmap_ros rtabmap_rviz_plugins rtabmap_slam rtabmap_sync rtabmap_util rtabmap_viz

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	jazzy-devel
Last Updated	2025-07-13
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.22.1
rtabmap_demos	0.22.1
rtabmap_examples	0.22.1
rtabmap_launch	0.22.1
rtabmap_msgs	0.22.1
rtabmap_odom	0.22.1
rtabmap_python	0.22.1
rtabmap_ros	0.22.1
rtabmap_rviz_plugins	0.22.1
rtabmap_slam	0.22.1
rtabmap_sync	0.22.1
rtabmap_util	0.22.1
rtabmap_viz	0.22.1

README

rtabmap_ros

RTAB-Map’s ROS2 package (branch ros2). ROS2 Humble 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

</td> </tr>

ROS 2

</td> </tr> </tbody> </table> #### ROS Binaries </tbody> </table> # Usage * For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see [rtabmap_examples](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch) sub-folder. * For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see [rtabmap_demos](https://github.com/introlab/rtabmap_ros/tree/ros2/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](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Logging.html)" documentation for more info): ```bash 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](https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`): ```bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Cyclone prefers multicast by default, if your router got too much spammed, # disable multicast with (https://github.com/ros2/rmw_cyclonedds/issues/489): export CYCLONEDDS_URI="0.0.0.0</></>" ``` # Installation ### Binaries ```bash 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: ```bash 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 ``` File truncated at 100 lines [see the full file](https://github.com/introlab/rtabmap_ros/tree/jazzy-devel/README.md)

ROS 1	Noetic	</td> </tr>
ROS 2	Humble	</td> </tr>
	Jazzy	</td> </tr>
	Rolling	</td> </tr>
	Docker	rtabmap_ros

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_demos rtabmap_examples rtabmap_launch rtabmap_msgs rtabmap_odom rtabmap_python rtabmap_ros rtabmap_rviz_plugins rtabmap_slam rtabmap_sync rtabmap_util rtabmap_viz

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	kilted-devel
Last Updated	2025-07-13
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.22.1
rtabmap_demos	0.22.1
rtabmap_examples	0.22.1
rtabmap_launch	0.22.1
rtabmap_msgs	0.22.1
rtabmap_odom	0.22.1
rtabmap_python	0.22.1
rtabmap_ros	0.22.1
rtabmap_rviz_plugins	0.22.1
rtabmap_slam	0.22.1
rtabmap_sync	0.22.1
rtabmap_util	0.22.1
rtabmap_viz	0.22.1

README

rtabmap_ros

RTAB-Map’s ROS2 package (branch ros2). ROS2 Humble 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

</td> </tr>

ROS 2

</td> </tr> </tbody> </table> #### ROS Binaries </tbody> </table> # Usage * For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see [rtabmap_examples](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch) sub-folder. * For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see [rtabmap_demos](https://github.com/introlab/rtabmap_ros/tree/ros2/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](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Logging.html)" documentation for more info): ```bash 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](https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`): ```bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Cyclone prefers multicast by default, if your router got too much spammed, # disable multicast with (https://github.com/ros2/rmw_cyclonedds/issues/489): export CYCLONEDDS_URI="0.0.0.0</></>" ``` # Installation ### Binaries ```bash 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: ```bash 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 ``` File truncated at 100 lines [see the full file](https://github.com/introlab/rtabmap_ros/tree/kilted-devel/README.md)

ROS 1	Noetic	</td> </tr>
ROS 2	Humble	</td> </tr>
	Jazzy	</td> </tr>
	Rolling	</td> </tr>
	Docker	rtabmap_ros

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_demos rtabmap_examples rtabmap_launch rtabmap_msgs rtabmap_odom rtabmap_python rtabmap_ros rtabmap_rviz_plugins rtabmap_slam rtabmap_sync rtabmap_util rtabmap_viz

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	rolling-devel
Last Updated	2025-07-13
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.22.1
rtabmap_demos	0.22.1
rtabmap_examples	0.22.1
rtabmap_launch	0.22.1
rtabmap_msgs	0.22.1
rtabmap_odom	0.22.1
rtabmap_python	0.22.1
rtabmap_ros	0.22.1
rtabmap_rviz_plugins	0.22.1
rtabmap_slam	0.22.1
rtabmap_sync	0.22.1
rtabmap_util	0.22.1
rtabmap_viz	0.22.1

README

rtabmap_ros

RTAB-Map’s ROS2 package (branch ros2). ROS2 Humble 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

</td> </tr>

ROS 2

</td> </tr> </tbody> </table> #### ROS Binaries </tbody> </table> # Usage * For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see [rtabmap_examples](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch) sub-folder. * For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see [rtabmap_demos](https://github.com/introlab/rtabmap_ros/tree/ros2/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](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Logging.html)" documentation for more info): ```bash 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](https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`): ```bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Cyclone prefers multicast by default, if your router got too much spammed, # disable multicast with (https://github.com/ros2/rmw_cyclonedds/issues/489): export CYCLONEDDS_URI="0.0.0.0</></>" ``` # Installation ### Binaries ```bash 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: ```bash 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 ``` File truncated at 100 lines [see the full file](https://github.com/introlab/rtabmap_ros/tree/rolling-devel/README.md)

ROS 1	Noetic	</td> </tr>
ROS 2	Humble	</td> </tr>
	Jazzy	</td> </tr>
	Rolling	</td> </tr>
	Docker	rtabmap_ros

CONTRIBUTING

rtabmap_ros repository

No version for distro github. Known supported distros are highlighted in the buttons above.

rtabmap_ros repository

rtabmap_ros

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	galactic-devel
Last Updated	2022-10-02
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_ros	0.20.20

README

rtabmap_ros

RTAB-Map’s ROS2 package (branch ros2). ROS2 Foxy minimum required: 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).

rtabmap.launch is also ported to ROS2 with same arguments. If you see ROS1 examples like this:

roslaunch zed_wrapper zed_no_tf.launch

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed_node/imu/data

The ROS2 equivalent is (with those lines set to false to avoid TF conflicts):

ros2 launch zed_wrapper zed.launch.py

ros2 launch rtabmap_ros rtabmap.launch.py \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed/zed_node/rgb/image_rect_color \
    depth_topic:=/zed/zed_node/depth/depth_registered \
    camera_info_topic:=/zed/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/zed/zed_node/imu/data \
    qos:=1 \
    rviz:=true

qos (Quality of Service) argument should match the published topics QoS (1=RELIABLE, 2=BEST EFFORT). ROS1 was always RELIABLE.

Installation

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
    export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
    colcon build --symlink-install
    

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
    

Example with Turtlebot3

Launch Turtlebot3 simulator:

    export TURTLEBOT3_MODEL=waffle
    ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
    
    export TURTLEBOT3_MODEL=waffle
    ros2 run turtlebot3_teleop teleop_keyboard
    

Launch RTAB-Map:

    ros2 launch rtabmap_ros turtlebot3_scan.launch.py
    
    # OR with rtabmap.launch.py
    ros2 launch rtabmap_ros rtabmap.launch.py \
       visual_odometry:=false \
       frame_id:=base_footprint \
       subscribe_scan:=true depth:=false \
       approx_sync:=true \
       odom_topic:=/odom \
       scan_topic:=/scan \
       qos:=2 \
       args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" \
       use_sim_time:=true \
       rviz:=true
    

Launch navigation (nav2_bringup package should be installed):

    ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
    ros2 launch nav2_bringup rviz_launch.py
    

See launch/ros2 subfolder for some other ROS2 examples with turtlebot3 in simulation and a RGB-D camera.

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_demos rtabmap_examples rtabmap_launch rtabmap_msgs rtabmap_odom rtabmap_python rtabmap_ros rtabmap_rviz_plugins rtabmap_slam rtabmap_sync rtabmap_util rtabmap_viz

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	iron-devel
Last Updated	2024-07-01
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.21.5
rtabmap_demos	0.21.5
rtabmap_examples	0.21.5
rtabmap_launch	0.21.5
rtabmap_msgs	0.21.5
rtabmap_odom	0.21.5
rtabmap_python	0.21.5
rtabmap_ros	0.21.5
rtabmap_rviz_plugins	0.21.5
rtabmap_slam	0.21.5
rtabmap_sync	0.21.5
rtabmap_util	0.21.5
rtabmap_viz	0.21.5

README

rtabmap_ros

RTAB-Map’s ROS2 package (branch ros2). ROS2 Foxy minimum required: 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).

CI Latest

ROS 1

</td> </tr>

ROS 2

</td> </tr> </tbody> </table> #### ROS Binaries </tbody> </table> # Usage `rtabmap.launch` is also ported to ROS2 with same arguments. If you see [ROS1 examples](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) like this: ```bash roslaunch zed_wrapper zed_no_tf.launch roslaunch rtabmap_ros rtabmap.launch \ rtabmap_args:="--delete_db_on_start" \ rgb_topic:=/zed/zed_node/rgb/image_rect_color \ depth_topic:=/zed/zed_node/depth/depth_registered \ camera_info_topic:=/zed/zed_node/rgb/camera_info \ frame_id:=base_link \ approx_sync:=false \ wait_imu_to_init:=true \ imu_topic:=/zed_node/imu/data ``` The ROS2 equivalent is (with those [lines](https://github.com/stereolabs/zed-ros2-wrapper/blob/b512dce6ad4565f4770273995b147122e735ca0f/zed_wrapper/config/common.yaml#L58-L60) set to false to avoid TF conflicts): ```bash ros2 launch zed_wrapper zed.launch.py ros2 launch rtabmap_launch rtabmap.launch.py \ rtabmap_args:="--delete_db_on_start" \ rgb_topic:=/zed/zed_node/rgb/image_rect_color \ depth_topic:=/zed/zed_node/depth/depth_registered \ camera_info_topic:=/zed/zed_node/rgb/camera_info \ frame_id:=base_link \ approx_sync:=false \ wait_imu_to_init:=true \ imu_topic:=/zed/zed_node/imu/data \ qos:=1 \ rviz:=true ``` `qos` (Quality of Service) argument should match the published topics QoS (1=RELIABLE, 2=BEST EFFORT). ROS1 was always RELIABLE. # Installation ### Binaries ```bash sudo apt install ros-$ROS_DISTRO-rtabmap-ros ``` ### From Source File truncated at 100 lines [see the full file](https://github.com/introlab/rtabmap_ros/tree/iron-devel/README.md)

ROS 1	Noetic	</td> </tr>
ROS 2	Humble	</td> </tr>
	Iron	</td> </tr>
	Rolling	</td> </tr>
Docker	rtabmap_ros

CONTRIBUTING

rtabmap_ros repository

rtabmap_ros

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	melodic-devel
Last Updated	2023-01-22
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_ros	0.20.23

README

rtabmap_ros

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.

CI Latest

ROS 1

</td> </tr>

ROS 2

</td> </tr> </tbody> </table> #### ROS Binaries

ROS 1	Melodic	</td> </tr>
ROS 1	Noetic	</td> </tr>
ROS 2	Foxy	</td> </tr>
	Galactic	</td> </tr>
	Humble	</td> </tr>
	Rolling	</td> </tr> </tbody> </table> # Installation ## ROS2 distribution Under construction: see [ros2 branch](https://github.com/introlab/rtabmap_ros/tree/ros2#rtabmap_ros). ## ROS distribution RTAB-Map is released as binaries in the ROS distribution. ```bash sudo apt install ros-$ROS_DISTRO-rtabmap-ros ``` When launching `rtabmap_ros`'s nodes, if you have the error `error while loading shared libraries...`, try `ldconfig` or add the next line at the end of your `~/.bashrc` to fix it: ```bash export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu ``` ### Docker * Go to [docker](https://github.com/introlab/rtabmap_ros/tree/master/docker) directory for an example. ## Build from source This section shows how to install RTAB-Map ros-pkg on ROS Melodic/Noetic (Catkin build). * The next instructions assume that you have set up your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). The workspace path is `~/catkin_ws` and your `~/.bashrc` contains: ```bash $ source /opt/ros/$ROS_DISTRO/setup.bash $ source ~/catkin_ws/devel/setup.bash ``` 0. Required dependencies * The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries: ```bash sudo apt install ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros sudo apt remove ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros ``` 1. Optional dependencies File truncated at 100 lines [see the full file](https://github.com/introlab/rtabmap_ros/tree/melodic-devel/README.md)

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_costmap_plugins rtabmap_demos rtabmap_examples rtabmap_launch rtabmap_legacy rtabmap_msgs rtabmap_odom rtabmap_python rtabmap_ros rtabmap_rviz_plugins rtabmap_slam rtabmap_sync rtabmap_util rtabmap_viz

Repository Summary

Description	RTAB-Map's ROS package.
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	noetic-devel
Last Updated	2025-04-27
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.21.13
rtabmap_costmap_plugins	0.21.13
rtabmap_demos	0.21.13
rtabmap_examples	0.21.13
rtabmap_launch	0.21.13
rtabmap_legacy	0.21.13
rtabmap_msgs	0.21.13
rtabmap_odom	0.21.13
rtabmap_python	0.21.13
rtabmap_ros	0.21.13
rtabmap_rviz_plugins	0.21.13
rtabmap_slam	0.21.13
rtabmap_sync	0.21.13
rtabmap_util	0.21.13
rtabmap_viz	0.21.13

README

rtabmap_ros

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.

CI Latest

ROS 1

</td> </tr>

ROS 2

</td> </tr> </tbody> </table> #### ROS Binaries </tbody> </table> # Installation ## ROS2 distribution See [ros2 branch](https://github.com/introlab/rtabmap_ros/tree/ros2#rtabmap_ros). ## ROS1 distribution RTAB-Map is released as binaries in the ROS distribution. ```bash sudo apt install ros-$ROS_DISTRO-rtabmap-ros ``` When launching `rtabmap_ros`'s nodes, if you have the error `error while loading shared libraries...`, try `ldconfig` or add the next line at the end of your `~/.bashrc` to fix it: ```bash export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu ``` ### Docker * Go to [docker](https://github.com/introlab/rtabmap_ros/tree/master/docker) directory for an example. ## Build from source This section shows how to install RTAB-Map ros-pkg on **ROS Noetic** (Catkin build). * The next instructions assume that you have set up your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). The workspace path is `~/catkin_ws` and your `~/.bashrc` contains: ```bash $ source /opt/ros/$ROS_DISTRO/setup.bash $ source ~/catkin_ws/devel/setup.bash ``` 0. Required dependencies * The easiest way to get all them (Qt, PCL, VTK, OpenCV, g2o, gtsam ...) is to install/uninstall rtabmap binaries: ```bash sudo apt install ros-$ROS_DISTRO-rtabmap* sudo apt remove ros-$ROS_DISTRO-rtabmap* File truncated at 100 lines [see the full file](https://github.com/introlab/rtabmap_ros/tree/noetic-devel/README.md)

ROS 1	Noetic	</td> </tr>
ROS 2	Humble	</td> </tr>
	Iron	</td> </tr>
	Jazzy	</td> </tr>
	Rolling	</td> </tr>
Docker	rtabmap_ros