Using RTABmap_ros with external GPS?

Question

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/225694/interfacing-rtabmap-and-robot_localization/). 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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Originally posted by kp12 on ROS Answers with karma: 3 on 2019-07-23

Post score: 0

Answer 1

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/wiki/Robust-Graph-Optimization#multi-session

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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Originally posted by matlabbe with karma: 6409 on 2019-07-24

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by PapaG on 2019-08-20:
Hi matlabbe, when are kinetic binaries expected to be updated?

Comment by matlabbe on 2019-08-21:
0.19.3 should be released in Kinetic: http://repositories.ros.org/status_page/ros_kinetic_default.html?q=rtabmap

Comment by carlostojal on 2022-10-17:
Hi. Checking noetic documentation I can't find references to any GPS topic. Was it deprecated? Thanks in advance.

Comment by matlabbe on 2022-10-23:
see https://github.com/introlab/rtabmap_ros/issues/828#issuecomment-1288193535