# SteveMacenski/slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

Repository: https://github.com/SteveMacenski/slam_toolbox
Canonical: https://ross.abutalabs.com/products/slam_toolbox
Language: C++
License: LGPL-2.1
License Family: copyleft
Last push: 2026-08-19T15:11:12+00:00

## Health v2 (maintenance only)
Score: 93/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 98, release rhythm 82, longevity 100
- inputs: {"age_days": 3032, "days_push": 14, "days_rel": 43, "gap_med": 82, "n_releases_24m": 8}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2609, forks 711 (observed 2026-08-28T04:07:04.257002+00:00)

## What it is
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
- artifact type: library
- maturity: active
- function: simulation, computer-vision, plugin-system, serialization
- domain: robotics, autonomous-vehicles, developer-tools
- platform: cpp
- tags: slam, ros2, lidar, pose-graph, mapping, localization, nav2, rviz-plugin, linux, ros

## Member repositories
- SteveMacenski/slam_toolbox (main) score 93

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:04.257002+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 2026-08-30T02:20:54.293113+00:00, confidence not recorded.
  - readme: https://github.com/SteveMacenski/slam_toolbox (fetched 2026-08-28T04:07:04.257002+00:00, sha 78232d499362)
- Data as of 2026-08-30T08:39:29.467469+00:00.