search

hello-robot / stretch_ros2

ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/
51 stars 19 forks source link

Add initial RTABmap Support #88

Closed hello-chintan closed 7 months ago

hello-chintan commented 7 months ago

This PR adds initial support for RTABmap in ROS 2. It enables:

  1. Appearance based 3D mapping using the RGBD camera point cloud
  2. Localization in a map using the RGBD camera while working with nav2 stack (obstacle avoidance is enabled by 2D lidar)
  3. Visual odometry using the RGBD camera (experimental)

To test the package, follow instructions in the README.md file.