rtabmap_ros

RTAB-Map's ROS package.

For more information, demos and tutorials 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

ROS distribution

RTAB-Map is released as binaries in the ROS distribution.

• Indigo

$ sudo apt-get install ros-indigo-rtabmap-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/Indigo (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo (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. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS.

• 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

1. First, you need to install the RTAB-Map standalone libraries (don't checkout in the Catkin workspace but install in your Catkin's devel folder).

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

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

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

Update to new version

$ cd rtabmap
$ git pull origin master
$ cd build
$ make
$ make install

$ roscd rtabmap_ros
$ git pull origin master
$ cd ~/catkin_ws
$ catkin_make