SteveMacenski/slam_toolbox

Health v2 · maintenance only

Adoption not part of the score

2658 stars · 721 forks observed · 2026-09-29

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

Slam Toolbox is a 2D SLAM library for ROS and ROS 2 providing lifelong mapping, localization, and pose-graph manipulation for potentially massive maps. It supports synchronous/asynchronous mapping, map serialization, localization and lidar-odometry modes, and an RViz plugin for interactive graph editing.

Use cases

• build 2D maps of large buildings with a lidar-equipped robot
• run lifelong SLAM that removes stale scans in dynamic environments
• localize a robot against a saved pose-graph map
• continue or refine mapping from a previously serialized map
• merge maps collected from multiple mapping sessions
• visualize and edit SLAM pose graphs in RViz
• set up SLAM for ROS 2 Nav2 navigation

When to choose

• you need the standard, actively maintained 2D SLAM stack for ROS 2 and Nav2
• you need lifelong mapping or resumable mapping in large spaces (tens of thousands of sq ft)
• you want localization mode or lidar odometry built on the same pose graph
• you need RViz-based graph manipulation and map serialization

When to avoid

• you need 3D SLAM or visual/RGB-D SLAM rather than 2D lidar SLAM
• your robot does not use ROS or ROS 2
• you need a lightweight SLAM for very small embedded microcontrollers
• you only need simple odometry without mapping or loop closures

Facets

library · maturity active

simulation computer-vision plugin-system serialization robotics autonomous-vehicles developer-tools cpp slam ros2 lidar pose-graph mapping localization nav2 rviz-plugin linux ros

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