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rtabmap_ros

  • Software
  • Navigation and mapping
  • Framework

ROS 2 wrapper for RTAB-Map, a graph-based SLAM library that builds 3D maps from RGB-D, stereo or lidar data with appearance-based loop closure. Exports occupancy grids, point clouds or OctoMaps.

Made by IntRoLab, Canada (checked on github.com/introlab (opens in a new tab)).

Source on GitHub: github.com/introlab/rtabmap_ros (opens in a new tab). Facts read at commit a8de404 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit a8de404 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Builds and maintains a 3D map and closes loops when revisited places are recognized.
  • Exports results as an occupancy grid, a point cloud or an OctoMap.
  • Split into packages so a pipeline only pulls in the parts it uses, covering SLAM, odometry, sensor sync, and utilities.
  • Provides odometry nodes (rgbd_odometry, stereo_odometry, icp_odometry), and any external odometry can be used instead.
  • Includes visualization nodes and RViz plugins, plus launch files to bring up the whole stack.
  • Ships sensor integration examples and full robot demos such as turtlebot3 and turtlebot4 with nav2 integration.

Written by Robotheca from the project's README (opens in a new tab) at commit a8de404.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
14 Oct 2026 on ros2
Latest release
v0.23.13 (4 Oct 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.