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Using RTABmap_ros with external GPS?

asked 2019-07-23 18:37:46 -0600

kp12
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Is there support to use an external GPS with RTABmap_ros? I have seen previous answers saying this was not supported, but you could possibly use robot_localization to get around it (https://answers.ros.org/question/2256...). However, according to (http://introlab.github.io/rtabmap/) version 0.14 of RTABmap Tango has GPS support. Has this feature been added to the ROS version yet?

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answered 2019-07-24 07:27:36 -0600

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Hi,

Yes it is now available on ROS. It is mainly used for more robust graph optimization and loop closure detection. See this post: https://github.com/introlab/rtabmap/w...

The input gps topic to rtabmap node is called /rtabmap/gps/fix, which is a sensor_msgs::NavSatFix type.

Note that rtabmap >=0.18.1 is required. Right now, only binaries in ROS melodic have the option (kinetic will be also updated soon), otherwise rtabmap should be built from source.

cheers,
Mathieu

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Hi matlabbe, when are kinetic binaries expected to be updated?

PapaG ( 2019-08-20 23:20:12 -0600 )edit

0.19.3 should be released in Kinetic: http://repositories.ros.org/status_pa...

matlabbe ( 2019-08-21 06:56:49 -0600 )edit

Hi. Checking noetic documentation I can't find references to any GPS topic. Was it deprecated? Thanks in advance.

carlostojal ( 2022-10-17 10:10:56 -0600 )edit

see https://github.com/introlab/rtabmap_r...

matlabbe ( 2022-10-23 15:51:42 -0600 )edit

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Asked: 2019-07-23 18:37:46 -0600

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Last updated: Jul 24 '19

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