X-lanni
106 lines
4.9 KiB
Markdown
106 lines
4.9 KiB
Markdown
rtabmap_ros
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===========
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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](http://wiki.ros.org/rtabmap_ros)).
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#### CI Latest
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<table>
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<tbody>
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<tr>
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<td>ROS 1</td>
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<td><a href="https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
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</td>
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</tr>
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<tr>
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<td>ROS 2</td>
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<td><a href="https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml"><img src="https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml/badge.svg" alt="Build Status"/>
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</td>
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</tr>
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</tbody>
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</table>
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#### ROS Binaries
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<table>
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<tbody>
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<tr>
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<td rowspan="1">ROS 1</td>
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<td>Noetic</td>
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<td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
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</tr>
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<tr>
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<td rowspan="4">ROS 2</td>
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<td>Humble</td>
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<td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
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</tr>
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<tr>
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<td>Jazzy</td>
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<td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
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</tr>
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<tr>
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<td>Rolling</td>
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<td><a href="http://build.ros2.org/job/Rbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uN64__rtabmap_ros__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
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</tr>
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<tr>
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<td>Docker</td>
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<td>
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<a href="https://hub.docker.com/r/introlab3it/rtabmap_ros">rtabmap_ros</a>
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</td>
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<td><img src="https://img.shields.io/docker/pulls/introlab3it/rtabmap_ros.svg?label=pulls" alt="Docker Pulls"/></td>
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</tr>
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</tbody>
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</table>
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# Usage
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* 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.
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* For robot integration examples (turtlebot3 and turtlebot4, nav2 integration), see [rtabmap_demos](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_demos) sub-folder.
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## Logging
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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):
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```bash
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export RCUTILS_LOGGING_USE_STDOUT=1
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export RCUTILS_LOGGING_BUFFERED_STREAM=1
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# Optional, but if you like colored logs:
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export RCUTILS_COLORIZED_OUTPUT=1
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```
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## Recommended DDS
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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`):
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```bash
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# Cyclone prefers multicast by default, if your router got too much spammed,
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# disable multicast with (https://github.com/ros2/rmw_cyclonedds/issues/489):
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export CYCLONEDDS_URI="<Disc><DefaultMulticastAddress>0.0.0.0</></>"
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```
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# Installation
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### Binaries
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```bash
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sudo apt install ros-$ROS_DISTRO-rtabmap-ros
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```
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### From Source
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* Make sure to uninstall any rtabmap binaries:
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```
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sudo apt remove ros-$ROS_DISTRO-rtabmap*
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```
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* RTAB-Map ROS2 package:
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```bash
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cd ~/ros2_ws
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git clone https://github.com/introlab/rtabmap.git src/rtabmap
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git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
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rosdep update && rosdep install --from-paths src --ignore-src -r -y
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export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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```
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* To build with `rgbd_cameras>1` support and/or `subscribe_user_data` support:
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```bash
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colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release
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```
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