# introlab/rtabmap_ros

RTAB-Map's ROS package.

Repository: https://github.com/introlab/rtabmap_ros
Canonical: https://ross.abutalabs.com/products/rtabmap_ros
Homepage: http://wiki.ros.org/rtabmap_ros
Language: C++
License: BSD-3-Clause
License Family: permissive
Last push: 2026-08-17T21:32:11+00:00

## Health v2 (maintenance only)
Score: 76/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 98, release rhythm 35, longevity 100
- inputs: {"age_days": 4405, "days_push": 16, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1498, forks 664 (observed 2026-08-28T04:04:54.045528+00:00)

## What it is
RTAB-Map's ROS package providing real-time appearance-based SLAM (RGB-D, stereo, and LiDAR graph SLAM) as ROS 1 and ROS 2 nodes. It integrates with the ROS ecosystem for mapping, localization, odometry, and navigation (nav2) on robots.

## Use cases
- build 3D maps of indoor environments with an RGB-D camera in ROS
- run visual SLAM and loop closure detection on a ROS robot
- generate occupancy grids for nav2 navigation from LiDAR or depth data
- estimate robot odometry from stereo or RGB-D cameras
- localize a robot on a previously saved map
- map and navigate with a TurtleBot3 or TurtleBot4

## When to choose
- you need mature, actively maintained SLAM within the ROS/ROS2 ecosystem
- you use RGB-D, stereo, or 3D LiDAR sensors and want mapping plus localization out of the box
- you want nav2 integration and ready-made launch examples for common robots

## When to avoid
- you need SLAM outside ROS (use the core rtabmap library instead)
- you need lightweight visual odometry only without mapping
- your platform is not Linux/ROS-based

## Facets
- artifact type: library
- maturity: active
- function: computer-vision, simulation, sdk
- domain: robotics, autonomous-vehicles, computer-vision
- platform: cpp
- tags: slam, ros, ros2, rgb-d, lidar, mapping, odometry, navigation, rtabmap, linux, docker

## Member repositories
- introlab/rtabmap_ros (main) score 76

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:54.045528+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T04:33:04.863328+00:00, confidence not recorded.
  - readme: https://github.com/introlab/rtabmap_ros (fetched 2026-08-28T04:04:54.045528+00:00, sha b12bfaf20e48)
  - homepage: http://wiki.ros.org/rtabmap_ros (fetched 2026-08-29T11:38:27.644975+00:00, sha fb5878126ed1)
  - site_page: https://wiki.ros.org/ROS/Installation (fetched 2026-08-29T11:38:27.675938+00:00, sha 010675c2f05f)
  - site_page: http://docs.ros.org (fetched 2026-08-29T11:38:27.678226+00:00, sha 0fa467f92ffb)
  - site_page: http://docs.ros.org/en/noetic/changelogs/rtabmap_ros/changelog.html (fetched 2026-08-29T11:38:27.684397+00:00, sha 867592e75cb0)
- Data as of 2026-08-30T08:39:29.467469+00:00.