introlab/rtabmap_ros

RTAB-Map's ROS package.

What it solves

It provides a ROS (Robot Operating System) interface for RTAB-Map, enabling robots to perform Simultaneous Localization and Mapping (SLAM) using various sensor inputs.

How it works

The project acts as a ROS2 package that integrates RTAB-Map's mapping capabilities with robot hardware. It supports sensor integration for stereo cameras, RGB-D cameras, and 3D LiDAR, and provides examples for integrating with specific robot platforms like TurtleBot3 and TurtleBot4, as well as the Nav2 navigation stack.

Who it’s for

Robotics developers and researchers who need to implement SLAM and mapping capabilities on robots running ROS1 or ROS2.

Highlights

  • Supports multiple sensor types including 3D LiDAR, stereo cameras, and RGB-D cameras.
  • Compatible with both ROS1 (Noetic) and ROS2 (Humble, Jazzy, Rolling).
  • Includes integration examples for TurtleBot3 and TurtleBot4.
  • Integrates with the Nav2 navigation stack.

Related

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