rtabmap_ros repository

rtabmap_conversions rtabmap_costmap_plugins 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

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-01
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.23.13
rtabmap_costmap_plugins	0.23.13
rtabmap_demos	0.23.13
rtabmap_examples	0.23.13
rtabmap_launch	0.23.13
rtabmap_msgs	0.23.13
rtabmap_odom	0.23.13
rtabmap_python	0.23.13
rtabmap_ros	0.23.13
rtabmap_rviz_plugins	0.23.13
rtabmap_slam	0.23.13
rtabmap_sync	0.23.13
rtabmap_util	0.23.13
rtabmap_viz	0.23.13

README

rtabmap_ros

ROS 2 wrapper for RTAB-Map, a graph-based SLAM library with appearance-based loop closure detection. It builds and maintains a 3D map from RGB-D, stereo or lidar data, closes loops on revisited places and exports the result as an occupancy grid, a point cloud or an OctoMap.

ROS 2 Humble minimum required. The interface matches ROS 1: parameters and topic names still follow the ROS 1 documentation for anything not yet covered by the package pages below.

CI Latest

	Build	Docker
ROS 1
ROS 2

ROS Binaries

	Distro	Ubuntu
ROS 1	Noetic (EOL)	20.04
ROS 2	Humble	22.04
ROS 2	Iron (EOL)	22.04
ROS 2	Jazzy	24.04
ROS 2	Kilted	24.04
ROS 2	Lyrical	26.04
ROS 2	Rolling	26.04
Docker	rtabmap_ros

Released is the version bloomed into rosdistro; In apt is what apt install actually gives you today. They differ while a release is waiting on a buildfarm sync.

Packages

The stack is split into small packages so a pipeline only pulls in what it uses. Package names link to their documentation where it exists; the rest are being written and will be linked as they land.

SLAM

Package	Description
`rtabmap_slam`	The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly.
`rtabmap_odom`	Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead.
`rtabmap_sync`	Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`.

Sensor processing

Package	Description
`rtabmap_util`	Utility nodes around the pipeline: format conversions, point cloud filtering and assembly, obstacle detection, map assembly, database replay. Most are useful on their own.
`rtabmap_costmap_plugins`	A variant of nav2’s voxel layer that follows the robot along z, keeping the voxel grid centered on the base frame. For robots that change altitude, e.g. drones.

Interfaces and libraries

Package	Description
`rtabmap_msgs`	Message, service and action definitions used across the stack.
`rtabmap_conversions`	C++ library converting between RTAB-Map library types and ROS 2 messages.
`rtabmap_python`	Python helpers for RTAB-Map’s own binary formats, currently the compressed matrices carried in `rtabmap_msgs` fields and database blobs.

Visualization

Package	Description
`rtabmap_viz`	RTAB-Map’s own GUI as a ROS 2 node: live graph, loop closures, feature matches and the parameter panel.
`rtabmap_rviz_plugins`	RViz displays for the map graph, the assembled cloud and the SLAM info.

Launch files

Package	Description
`rtabmap_launch`	`rtabmap.launch.py`, the one-line way to bring up the whole stack.
`rtabmap_examples`	Sensor integration examples: stereo and RGB-D cameras, 3D lidar.
`rtabmap_demos`	Full robot demos: turtlebot3 and turtlebot4, nav2 integration, multi-session mapping.

Installation

These instructions are for ROS 2. For ROS 1, follow the installation instructions on the master branch, which also carries the latest version for Noetic.

Binaries

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:

    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
    

To build with rgbd_cameras>1 support and/or subscribe_user_data support:

```bash colcon build –symlink-install –cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

File truncated at 100 lines see the full file

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_costmap_plugins 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

ROS Distro
jazzy

Repository Summary

Description
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	jazzy-devel
Last Updated	2026-10-01
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.23.13
rtabmap_costmap_plugins	0.23.13
rtabmap_demos	0.23.13
rtabmap_examples	0.23.13
rtabmap_launch	0.23.13
rtabmap_msgs	0.23.13
rtabmap_odom	0.23.13
rtabmap_python	0.23.13
rtabmap_ros	0.23.13
rtabmap_rviz_plugins	0.23.13
rtabmap_slam	0.23.13
rtabmap_sync	0.23.13
rtabmap_util	0.23.13
rtabmap_viz	0.23.13

README

rtabmap_ros

ROS 2 wrapper for RTAB-Map, a graph-based SLAM library with appearance-based loop closure detection. It builds and maintains a 3D map from RGB-D, stereo or lidar data, closes loops on revisited places and exports the result as an occupancy grid, a point cloud or an OctoMap.

ROS 2 Humble minimum required. The interface matches ROS 1: parameters and topic names still follow the ROS 1 documentation for anything not yet covered by the package pages below.

CI Latest

	Build	Docker
ROS 1
ROS 2

ROS Binaries

	Distro	Ubuntu
ROS 1	Noetic (EOL)	20.04
ROS 2	Humble	22.04
ROS 2	Iron (EOL)	22.04
ROS 2	Jazzy	24.04
ROS 2	Kilted	24.04
ROS 2	Lyrical	26.04
ROS 2	Rolling	26.04
Docker	rtabmap_ros

Released is the version bloomed into rosdistro; In apt is what apt install actually gives you today. They differ while a release is waiting on a buildfarm sync.

Packages

The stack is split into small packages so a pipeline only pulls in what it uses. Package names link to their documentation where it exists; the rest are being written and will be linked as they land.

SLAM

Package	Description
`rtabmap_slam`	The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly.
`rtabmap_odom`	Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead.
`rtabmap_sync`	Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`.

Sensor processing

Package	Description
`rtabmap_util`	Utility nodes around the pipeline: format conversions, point cloud filtering and assembly, obstacle detection, map assembly, database replay. Most are useful on their own.
`rtabmap_costmap_plugins`	A variant of nav2’s voxel layer that follows the robot along z, keeping the voxel grid centered on the base frame. For robots that change altitude, e.g. drones.

Interfaces and libraries

Package	Description
`rtabmap_msgs`	Message, service and action definitions used across the stack.
`rtabmap_conversions`	C++ library converting between RTAB-Map library types and ROS 2 messages.
`rtabmap_python`	Python helpers for RTAB-Map’s own binary formats, currently the compressed matrices carried in `rtabmap_msgs` fields and database blobs.

Visualization

Package	Description
`rtabmap_viz`	RTAB-Map’s own GUI as a ROS 2 node: live graph, loop closures, feature matches and the parameter panel.
`rtabmap_rviz_plugins`	RViz displays for the map graph, the assembled cloud and the SLAM info.

Launch files

Package	Description
`rtabmap_launch`	`rtabmap.launch.py`, the one-line way to bring up the whole stack.
`rtabmap_examples`	Sensor integration examples: stereo and RGB-D cameras, 3D lidar.
`rtabmap_demos`	Full robot demos: turtlebot3 and turtlebot4, nav2 integration, multi-session mapping.

Installation

These instructions are for ROS 2. For ROS 1, follow the installation instructions on the master branch, which also carries the latest version for Noetic.

Binaries

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:

    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
    

To build with rgbd_cameras>1 support and/or subscribe_user_data support:

```bash colcon build –symlink-install –cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

File truncated at 100 lines see the full file

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_costmap_plugins 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

ROS Distro
kilted

Repository Summary

Description
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	kilted-devel
Last Updated	2026-10-01
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.23.13
rtabmap_costmap_plugins	0.23.13
rtabmap_demos	0.23.13
rtabmap_examples	0.23.13
rtabmap_launch	0.23.13
rtabmap_msgs	0.23.13
rtabmap_odom	0.23.13
rtabmap_python	0.23.13
rtabmap_ros	0.23.13
rtabmap_rviz_plugins	0.23.13
rtabmap_slam	0.23.13
rtabmap_sync	0.23.13
rtabmap_util	0.23.13
rtabmap_viz	0.23.13

README

rtabmap_ros

ROS 2 wrapper for RTAB-Map, a graph-based SLAM library with appearance-based loop closure detection. It builds and maintains a 3D map from RGB-D, stereo or lidar data, closes loops on revisited places and exports the result as an occupancy grid, a point cloud or an OctoMap.

ROS 2 Humble minimum required. The interface matches ROS 1: parameters and topic names still follow the ROS 1 documentation for anything not yet covered by the package pages below.

CI Latest

	Build	Docker
ROS 1
ROS 2

ROS Binaries

	Distro	Ubuntu
ROS 1	Noetic (EOL)	20.04
ROS 2	Humble	22.04
ROS 2	Iron (EOL)	22.04
ROS 2	Jazzy	24.04
ROS 2	Kilted	24.04
ROS 2	Lyrical	26.04
ROS 2	Rolling	26.04
Docker	rtabmap_ros

Released is the version bloomed into rosdistro; In apt is what apt install actually gives you today. They differ while a release is waiting on a buildfarm sync.

Packages

The stack is split into small packages so a pipeline only pulls in what it uses. Package names link to their documentation where it exists; the rest are being written and will be linked as they land.

SLAM

Package	Description
`rtabmap_slam`	The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly.
`rtabmap_odom`	Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead.
`rtabmap_sync`	Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`.

Sensor processing

Package	Description
`rtabmap_util`	Utility nodes around the pipeline: format conversions, point cloud filtering and assembly, obstacle detection, map assembly, database replay. Most are useful on their own.
`rtabmap_costmap_plugins`	A variant of nav2’s voxel layer that follows the robot along z, keeping the voxel grid centered on the base frame. For robots that change altitude, e.g. drones.

Interfaces and libraries

Package	Description
`rtabmap_msgs`	Message, service and action definitions used across the stack.
`rtabmap_conversions`	C++ library converting between RTAB-Map library types and ROS 2 messages.
`rtabmap_python`	Python helpers for RTAB-Map’s own binary formats, currently the compressed matrices carried in `rtabmap_msgs` fields and database blobs.

Visualization

Package	Description
`rtabmap_viz`	RTAB-Map’s own GUI as a ROS 2 node: live graph, loop closures, feature matches and the parameter panel.
`rtabmap_rviz_plugins`	RViz displays for the map graph, the assembled cloud and the SLAM info.

Launch files

Package	Description
`rtabmap_launch`	`rtabmap.launch.py`, the one-line way to bring up the whole stack.
`rtabmap_examples`	Sensor integration examples: stereo and RGB-D cameras, 3D lidar.
`rtabmap_demos`	Full robot demos: turtlebot3 and turtlebot4, nav2 integration, multi-session mapping.

Installation

These instructions are for ROS 2. For ROS 1, follow the installation instructions on the master branch, which also carries the latest version for Noetic.

Binaries

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:

    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
    

To build with rgbd_cameras>1 support and/or subscribe_user_data support:

```bash colcon build –symlink-install –cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

File truncated at 100 lines see the full file

CONTRIBUTING

rtabmap_ros repository

rtabmap_conversions rtabmap_costmap_plugins 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

ROS Distro
lyrical

Repository Summary

Description
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	lyrical-devel
Last Updated	2026-10-01
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.23.13
rtabmap_costmap_plugins	0.23.13
rtabmap_demos	0.23.13
rtabmap_examples	0.23.13
rtabmap_launch	0.23.13
rtabmap_msgs	0.23.13
rtabmap_odom	0.23.13
rtabmap_python	0.23.13
rtabmap_ros	0.23.13
rtabmap_rviz_plugins	0.23.13
rtabmap_slam	0.23.13
rtabmap_sync	0.23.13
rtabmap_util	0.23.13
rtabmap_viz	0.23.13

README

rtabmap_ros

ROS 2 wrapper for RTAB-Map, a graph-based SLAM library with appearance-based loop closure detection. It builds and maintains a 3D map from RGB-D, stereo or lidar data, closes loops on revisited places and exports the result as an occupancy grid, a point cloud or an OctoMap.

ROS 2 Humble minimum required. The interface matches ROS 1: parameters and topic names still follow the ROS 1 documentation for anything not yet covered by the package pages below.

CI Latest

	Build	Docker
ROS 1
ROS 2

ROS Binaries

	Distro	Ubuntu
ROS 1	Noetic (EOL)	20.04
ROS 2	Humble	22.04
ROS 2	Iron (EOL)	22.04
ROS 2	Jazzy	24.04
ROS 2	Kilted	24.04
ROS 2	Lyrical	26.04
ROS 2	Rolling	26.04
Docker	rtabmap_ros

Released is the version bloomed into rosdistro; In apt is what apt install actually gives you today. They differ while a release is waiting on a buildfarm sync.

Packages

The stack is split into small packages so a pipeline only pulls in what it uses. Package names link to their documentation where it exists; the rest are being written and will be linked as they land.

SLAM

Package	Description
`rtabmap_slam`	The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly.
`rtabmap_odom`	Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead.
`rtabmap_sync`	Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`.

Sensor processing

Package	Description
`rtabmap_util`	Utility nodes around the pipeline: format conversions, point cloud filtering and assembly, obstacle detection, map assembly, database replay. Most are useful on their own.
`rtabmap_costmap_plugins`	A variant of nav2’s voxel layer that follows the robot along z, keeping the voxel grid centered on the base frame. For robots that change altitude, e.g. drones.

Interfaces and libraries

Package	Description
`rtabmap_msgs`	Message, service and action definitions used across the stack.
`rtabmap_conversions`	C++ library converting between RTAB-Map library types and ROS 2 messages.
`rtabmap_python`	Python helpers for RTAB-Map’s own binary formats, currently the compressed matrices carried in `rtabmap_msgs` fields and database blobs.

Visualization

Package	Description
`rtabmap_viz`	RTAB-Map’s own GUI as a ROS 2 node: live graph, loop closures, feature matches and the parameter panel.
`rtabmap_rviz_plugins`	RViz displays for the map graph, the assembled cloud and the SLAM info.

Launch files

Package	Description
`rtabmap_launch`	`rtabmap.launch.py`, the one-line way to bring up the whole stack.
`rtabmap_examples`	Sensor integration examples: stereo and RGB-D cameras, 3D lidar.
`rtabmap_demos`	Full robot demos: turtlebot3 and turtlebot4, nav2 integration, multi-session mapping.

Installation

These instructions are for ROS 2. For ROS 1, follow the installation instructions on the master branch, which also carries the latest version for Noetic.

Binaries

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:

    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
    

To build with rgbd_cameras>1 support and/or subscribe_user_data support:

```bash colcon build –symlink-install –cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

File truncated at 100 lines see the full file

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

ROS Distro
rolling

Repository Summary

Description
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	rolling-devel
Last Updated	2026-10-02
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.23.13
rtabmap_demos	0.23.13
rtabmap_examples	0.23.13
rtabmap_launch	0.23.13
rtabmap_msgs	0.23.13
rtabmap_odom	0.23.13
rtabmap_python	0.23.13
rtabmap_ros	0.23.13
rtabmap_rviz_plugins	0.23.13
rtabmap_slam	0.23.13
rtabmap_sync	0.23.13
rtabmap_util	0.23.13
rtabmap_viz	0.23.13

README

rtabmap_ros

ROS 2 wrapper for RTAB-Map, a graph-based SLAM library with appearance-based loop closure detection. It builds and maintains a 3D map from RGB-D, stereo or lidar data, closes loops on revisited places and exports the result as an occupancy grid, a point cloud or an OctoMap.

ROS 2 Humble minimum required. The interface matches ROS 1: parameters and topic names still follow the ROS 1 documentation for anything not yet covered by the package pages below.

CI Latest

	Build	Docker
ROS 1
ROS 2

ROS Binaries

	Distro	Ubuntu
ROS 1	Noetic (EOL)	20.04
ROS 2	Humble	22.04
ROS 2	Iron (EOL)	22.04
ROS 2	Jazzy	24.04
ROS 2	Kilted	24.04
ROS 2	Lyrical	26.04
ROS 2	Rolling	26.04
Docker	rtabmap_ros

Released is the version bloomed into rosdistro; In apt is what apt install actually gives you today. They differ while a release is waiting on a buildfarm sync.

Packages

The stack is split into small packages so a pipeline only pulls in what it uses. Package names link to their documentation where it exists; the rest are being written and will be linked as they land.

SLAM

Package	Description
`rtabmap_slam`	The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly.
`rtabmap_odom`	Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead.
`rtabmap_sync`	Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`.

Sensor processing

Package	Description
`rtabmap_util`	Utility nodes around the pipeline: format conversions, point cloud filtering and assembly, obstacle detection, map assembly, database replay. Most are useful on their own.
`rtabmap_costmap_plugins`	A variant of nav2’s voxel layer that follows the robot along z, keeping the voxel grid centered on the base frame. For robots that change altitude, e.g. drones.

Interfaces and libraries

Package	Description
`rtabmap_msgs`	Message, service and action definitions used across the stack.
`rtabmap_conversions`	C++ library converting between RTAB-Map library types and ROS 2 messages.
`rtabmap_python`	Python helpers for RTAB-Map’s own binary formats, currently the compressed matrices carried in `rtabmap_msgs` fields and database blobs.

Visualization

Package	Description
`rtabmap_viz`	RTAB-Map’s own GUI as a ROS 2 node: live graph, loop closures, feature matches and the parameter panel.
`rtabmap_rviz_plugins`	RViz displays for the map graph, the assembled cloud and the SLAM info.

Launch files

Package	Description
`rtabmap_launch`	`rtabmap.launch.py`, the one-line way to bring up the whole stack.
`rtabmap_examples`	Sensor integration examples: stereo and RGB-D cameras, 3D lidar.
`rtabmap_demos`	Full robot demos: turtlebot3 and turtlebot4, nav2 integration, multi-session mapping.

Installation

These instructions are for ROS 2. For ROS 1, follow the installation instructions on the master branch, which also carries the latest version for Noetic.

Binaries

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:

    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
    

To build with rgbd_cameras>1 support and/or subscribe_user_data support:

```bash colcon build –symlink-install –cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

File truncated at 100 lines see the full file

CONTRIBUTING

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

rtabmap_ros repository

rtabmap_conversions rtabmap_costmap_plugins 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

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/introlab/rtabmap_ros.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-01
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rtabmap_conversions	0.23.13
rtabmap_costmap_plugins	0.23.13
rtabmap_demos	0.23.13
rtabmap_examples	0.23.13
rtabmap_launch	0.23.13
rtabmap_msgs	0.23.13
rtabmap_odom	0.23.13
rtabmap_python	0.23.13
rtabmap_ros	0.23.13
rtabmap_rviz_plugins	0.23.13
rtabmap_slam	0.23.13
rtabmap_sync	0.23.13
rtabmap_util	0.23.13
rtabmap_viz	0.23.13

README

rtabmap_ros

ROS 2 wrapper for RTAB-Map, a graph-based SLAM library with appearance-based loop closure detection. It builds and maintains a 3D map from RGB-D, stereo or lidar data, closes loops on revisited places and exports the result as an occupancy grid, a point cloud or an OctoMap.

ROS 2 Humble minimum required. The interface matches ROS 1: parameters and topic names still follow the ROS 1 documentation for anything not yet covered by the package pages below.

CI Latest

	Build	Docker
ROS 1
ROS 2

ROS Binaries

	Distro	Ubuntu
ROS 1	Noetic (EOL)	20.04
ROS 2	Humble	22.04
ROS 2	Iron (EOL)	22.04
ROS 2	Jazzy	24.04
ROS 2	Kilted	24.04
ROS 2	Lyrical	26.04
ROS 2	Rolling	26.04
Docker	rtabmap_ros

Released is the version bloomed into rosdistro; In apt is what apt install actually gives you today. They differ while a release is waiting on a buildfarm sync.

Packages

The stack is split into small packages so a pipeline only pulls in what it uses. Package names link to their documentation where it exists; the rest are being written and will be linked as they land.

SLAM

Package	Description
`rtabmap_slam`	The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly.
`rtabmap_odom`	Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead.
`rtabmap_sync`	Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`.

Sensor processing

Package	Description
`rtabmap_util`	Utility nodes around the pipeline: format conversions, point cloud filtering and assembly, obstacle detection, map assembly, database replay. Most are useful on their own.
`rtabmap_costmap_plugins`	A variant of nav2’s voxel layer that follows the robot along z, keeping the voxel grid centered on the base frame. For robots that change altitude, e.g. drones.

Interfaces and libraries

Package	Description
`rtabmap_msgs`	Message, service and action definitions used across the stack.
`rtabmap_conversions`	C++ library converting between RTAB-Map library types and ROS 2 messages.
`rtabmap_python`	Python helpers for RTAB-Map’s own binary formats, currently the compressed matrices carried in `rtabmap_msgs` fields and database blobs.

Visualization

Package	Description
`rtabmap_viz`	RTAB-Map’s own GUI as a ROS 2 node: live graph, loop closures, feature matches and the parameter panel.
`rtabmap_rviz_plugins`	RViz displays for the map graph, the assembled cloud and the SLAM info.

Launch files

Package	Description
`rtabmap_launch`	`rtabmap.launch.py`, the one-line way to bring up the whole stack.
`rtabmap_examples`	Sensor integration examples: stereo and RGB-D cameras, 3D lidar.
`rtabmap_demos`	Full robot demos: turtlebot3 and turtlebot4, nav2 integration, multi-session mapping.

Installation

These instructions are for ROS 2. For ROS 1, follow the installation instructions on the master branch, which also carries the latest version for Noetic.

Binaries

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:

    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
    

To build with rgbd_cameras>1 support and/or subscribe_user_data support:

```bash colcon build –symlink-install –cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

File truncated at 100 lines see the full file

CONTRIBUTING

rtabmap_ros repository

rtabmap_ros

ROS Distro
galactic

Repository Summary

Description
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
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

ROS Distro
iron

Repository Summary

Description
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
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

ROS Distro
melodic

Repository Summary

Description
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
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

ROS Distro
noetic

Repository Summary

Description
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
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

rtabmap_ros repository

ROS Distrohumble

Repository Summary

Packages

README

rtabmap_ros

CI Latest

ROS Binaries

Packages

SLAM

Sensor processing

Interfaces and libraries

Visualization

Launch files

Installation

Binaries

From Source

CONTRIBUTING

rtabmap_ros repository

ROS Distrojazzy

Repository Summary

Packages

README

rtabmap_ros

CI Latest

ROS Binaries

Packages

SLAM

Sensor processing

Interfaces and libraries

Visualization

Launch files

Installation

Binaries

From Source

CONTRIBUTING

rtabmap_ros repository

ROS Distrokilted

Repository Summary

Packages

README

rtabmap_ros

CI Latest

ROS Binaries

Packages

SLAM

Sensor processing

Interfaces and libraries

Visualization

Launch files

Installation

Binaries

From Source

CONTRIBUTING

rtabmap_ros repository

ROS Distrolyrical

Repository Summary

Packages

README

rtabmap_ros

CI Latest

ROS Binaries

Packages

SLAM

Sensor processing

Interfaces and libraries

Visualization

Launch files

Installation

Binaries

From Source

CONTRIBUTING

rtabmap_ros repository

ROS Distrorolling

Repository Summary

Packages

README

rtabmap_ros

CI Latest

ROS Binaries

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
lyrical

ROS Distro
rolling

ROS Distro
humble

ROS Distro
galactic

ROS Distro
iron

ROS Distro
melodic

ROS Distro
noetic