feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
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+
+
+# Usage
+
+`rtabmap.launch` from ros1 has been ported to ROS2 as `rtabmap.launch.py` 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 (using latest zed_wrapper launch file):
+
+```bash
+ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
+    publish_tf:=false \
+    publish_map_tf:=false
+
+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:=zed_camera_link \
+    approx_sync:=false \
+    wait_imu_to_init:=true \
+    imu_topic:=/zed/zed_node/imu/data \
+    rviz:=true
+```
+