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RTAB-Map

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🐳 Start Container

Make sure your system meets the system requirements and have followed the setup instructions before using this workspace.

Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use ssh -X or ssh -Y).

cd ~/ros2-essentials/rtabmap_ws/docker
docker compose build
xhost +local:docker
docker compose up -d
# The initial build will take a while, please wait patiently.

If your user's UID is 1000, you may replace the docker compose build command with docker compose pull.

The commands in the following sections assume that you are inside the Docker container:

# in a new terminal
docker exec -it ros2-rtabmap-ws bash

If the initial build somehow failed, run:

rm -r build install
colcon build --symlink-install

Once you have finished testing, you can stop and remove the container with:

docker compose down

LiDAR test with gazebo

  • Launch Gazebo with turtlebot3 in tmux 
    ros2 launch rtabmap_sim sim_robot.launch.py
  • Run rtabmap LiDAR demo in a new tmux window 
    ros2 launch rtabmap_demos turtlebot3_scan.launch.py

RGBD test with gazebo

  • Launch Gazebo with turtlebot3 in tmux 
    ros2 launch rtabmap_sim sim_robot.launch.py
  • Run rtabmap LiDAR demo in a new tmux window 
    ros2 launch rtabmap_demos turtlebot3_rgbd.launch.py

Dual sensor test with gazebo

  • Launch Gazebo with turtlebot3 in tmux 
    ros2 launch rtabmap_sim sim_robot.launch.py
  • Run dual sensor demo in a new tmux window 
    ros2 launch rtabmap_sim dual_sensor.launch.py

Run with rqt

  • Running in a new tmux window 
    rqt_robot_steering

Result

  • After you've run the demo, you could find the following result directly.
  1. LiDAR test
  1. RGBD test
  1. Dual sensor test

Reference

Existing issues

  • VTK warning 
    QVTKOpenGLWidget: Warning: In /build/vtk6-6.3.0+dfsg1/Rendering/OpenGL2/vtkOpenGLRenderWindow.cxx, line 781
...
    • It seems that the warning isn't a big deal. But it will interrupt debugging in the future.
    • Possible solution : set VTK_LEGACY_REMOVE, but it required to build from source. - Still not tested yet.
    • Issue Reference