RTAB-Map

Run with docker

git clone https://github.com/j3soon/ros2-essentials.git

cd ros2-essentials/rtabmap_ws/docker
docker compose pull
docker compose up -d --build

• Attach to the container

  docker attach ros2-rtabmap-ws
  cd /home/ros2-essentials/rtabmap_ws
  colcon build --symlink-install
  

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
2. RGBD test
3. Dual sensor test

Reference

• RTAB-Map wiki

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