rtabmap

RTAB-Map library and standalone application.

• For more information (e.g., papers, major updates), visit RTAB-Map's home page.
• For installation instructions and examples, visit RTAB-Map's wiki.

To use RTAB-Map under ROS, visit the rtabmap page on the ROS wiki.

Acknowledgements

This project is supported by IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab, Sherbrooke, Québec, Canada.

CI Latest

Linux
Windows

ROS Binaries

ros-$ROS_DISTRO-rtabmap

ROS 1	Melodic
	Noetic
ROS 2	Foxy
	Humble
	Rolling

---

create image

git clone https://github.com/songwon31/slam_team2.git
cd slam_team2
sudo docker build --build-arg TARGETPLATFORM=linux/amd64 --no-cache --progress=tty --force-rm -f 1_dependency.dockerfile -t rtabmap_team2:deps .
sudo docker build --build-arg TARGETPLATFORM=linux/amd64 --no-cache --progress=tty --force-rm -f 2_rtabmap_with_ros.dockerfile -t rtabmap_team2:base .

• wsl2사용 시 test.dockerfile에서 # ENV DISPLAY=host.docker.internal:0.0 주석해제.

1. Linux

1.1 with nvidia-gpu

install nvidia-docker2

sudo apt install -y nvidia-docker2
sudo systemctl daemon-reload
sudo systemctl restart docker

create container

export XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run -it \
  --privileged \
  --env="DISPLAY=$DISPLAY" \
  --env="QT_X11_NO_MITSHM=1" \
  --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
  --env="XAUTHORITY=$XAUTH" \
  --volume="$XAUTH:$XAUTH" \
  --runtime=nvidia \
  --network host \
  -v ~/Documents/RTAB-Map:/root/Documents/RTAB-Map \
  rtabmap_team2:base

1.2 without gpu

create container

export XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run -it \
  --privileged \
  --env="DISPLAY=$DISPLAY" \
  --env="QT_X11_NO_MITSHM=1" \
  --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
  --env="XAUTHORITY=$XAUTH" \
  --volume="$XAUTH:$XAUTH" \
  --network host \
  -v ~/Documents/RTAB-Map:/root/Documents/RTAB-Map \
  rtabmap_team2:base

2. WSL2

• test.dockerfile에서 # ENV DISPLAY=host.docker.internal:0.0 주석해제.

docker run -it \
  --privileged \
  --gpus all \
  --env="DISPLAY=$DISPLAY" \
  --network host \
  -v C:\path\to\mount\:/root/Documents/RTAB-Map \
  rtabmap_team2:base

build rtabmap

source /ros_entrypoint.sh
cd rtabmap/build
mkdir ../../rtabmap_install
~/cmake -DWITH_OPENGV=ON -DCMAKE_INSTALL_PREFIX=../../rtabmap_install ..
make -j$(nproc)
sudo make install
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:../../rtabmap_install/lib
ldconfig