How to use ORB_SLAM3 library in rtabmap(foxy)?

[zbbd]

I added WITH_ORB_SLAM=ON in the CMake options and compiled it. I also added the directory related to ORB-SLAM3 in my .bashrc, but the output shows:

CMake Warning:
  Manually-specified variables were not used by the project:

    WITH_ORB_SLAM

and

RTAB-Map:               0.21.5  
PCL:                    1.10.0  
With VTK:                7.1.1  
OpenCV:                  4.2.0  
With OpenCV xfeatures2d: false  
With OpenCV nonfree:     false  
With ORB OcTree:          true  
With SuperPoint Torch:   false  
With Python3:            false  
With FastCV:             false  
With OpenGV:             false  
With Madgwick:            true  
With PDAL:               false  
With TORO:                true  
With g2o:                false  
With GTSAM:              false  
With Vertigo:             true  
With CVSBA:              false  
With Ceres:              false  
With OpenNI:             false  
With OpenNI2:             true  
With Freenect:           false  
With Freenect2:          false  
With K4W2:               false  
With K4A:                false  
With DC1394:              true  
With FlyCapture2:        false  
With ZED:                false  
With ZED Open Capture:   false  
With RealSense:          false  
With RealSense SLAM:     false  
With RealSense2:         false  
With MYNT EYE S:         false  
With DepthAI:            false  
With XVisio SDK:         false  
With libpointmatcher:    false  
With CCCoreLib:          false  
With Open3D:             false  
With OctoMap:            false  
With GridMap:            false  
With cpu-tsdf:           false  
With open chisel:        false  
With Alice Vision:       false  
With LOAM:               false  
With FLOAM:              false  
With FOVIS:              false  
With Viso2:              false  
With DVO:                false  
With ORB_SLAM:           false  
With OKVIS:              false  
With MSCKF_VIO:          false  
With VINS-Fusion:        false  
With OpenVINS:           false  

Why is this happening?

[matlabbe]

Is it by compiling directly the repo or from the ros2 workspace (colcon)?

If you build outside the ros2 workspace, check that cmake options are correctly set before building it:

$ cd rtabmap/build
$ cmake ..
[...]
--  Odometry Approaches:
--   With loam_velodyne        = NO (WITH_LOAM=OFF)
--   With floam                = NO (WITH_FLOAM=OFF)
--   With libfovis             = NO (WITH_FOVIS=OFF)
--   With libviso2             = NO (WITH_VISO2=OFF)
--   With dvo_core             = NO (WITH_DVO=OFF)
--   With okvis                = NO (WITH_OKVIS=OFF)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (WITH_VINS=OFF)
--   With OpenVINS             = NO (WITH_OPENVINS=OFF)
--   With ORB_SLAM             = YES                           <---------------------------------------------
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
-- Generating done

[zbbd]

Thank you. Now I have completed the compilation and can see that the option for ORB-SLAM3 shows "yes." I am testing the robot's mapping in gazebo(rgbd). Here is my launch file:

def generate_launch_description():
    parameters={
            'frame_id':'base_footprint',
            'use_sim_time':True,
            'subscribe_rgbd':True,
            'subscribe_odom':True,
            }

    remappings=[
          ('rgb/image', '/camera/rgb_camera/image_raw'),
          ('rgb/camera_info', '/camera/rgb_camera/camera_info'),
          ('depth/image', '/camera/rgb_camera/depth/image_raw'),
          ('odom', '/odom')]
    return LaunchDescription([

        Node(
            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
            parameters=[parameters,
                        {'Odom/Strategy':'5',
                         'OdomORBSLAM/VocPath' : '/home/zyh/orbslam3/src/ORB_SLAM3/Vocabulary/ORBvoc.txt',
                         'OdomORBSLAM/configPath' : '/home/zyh/rtab/rtabmap_orbslam.yaml' ,
                        }],
            remappings=remappings,
            namespace="rtabmap"),

        Node(
            package='rtabmap_slam', executable='rtabmap', output='screen',
            parameters=[parameters],
            remappings=remappings,
            arguments=['-d'],
            namespace="rtabmap"),

        Node(
            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
            parameters=[parameters],
            remappings=remappings,
            namespace="rtabmap"),
])


and yaml:


%YAML:1.0

File.version: "1.0"

Camera.type: "PinHole"

Camera1.fx: 554.3827128226441
Camera1.fy: 554.3827128226441
Camera1.cx: 320.5000000000000
Camera1.cy: 240.5000000000000

Camera1.k1: 0.0000000000000
Camera1.k2: 0.0000000000000
Camera1.p1: 0.0000000000000
Camera1.p2: 0.0000000000000
Camera1.k3: 0.0000000000000

Camera.bf: 40.00
Camera.width: 640
Camera.height: 480

Camera.RGB: 1

Camera.fps: 30

Stereo.ThDepth: 40.0000000000000
Stereo.b: 0.0760000000000

RGBD.DepthMapFactor: 1.0000000000000

ORBextractor.nFeatures: 1000

ORBextractor.scaleFactor: 2.0000000000000

ORBextractor.nLevels: 3

ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

loopClosing: 0

Viewer.KeyFrameSize: 0.0500000000000
Viewer.KeyFrameLineWidth: 1.0000000000000
Viewer.GraphLineWidth: 0.9000000000000
Viewer.PointSize: 2.0000000000000
Viewer.CameraSize: 0.0800000000000
Viewer.CameraLineWidth: 3.0000000000000
Viewer.ViewpointX: 0.0000000000000
Viewer.ViewpointY: -0.7000000000000
Viewer.ViewpointZ: -3.5000000000000
Viewer.ViewpointF: 500.0000000000000


However, I encountered this error.：
[INFO] [launch]: All log files can be found below /home/zyh/.ros/log/2025-08-18-17-31-49-407309-zyh-MS-7D48-72343
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rgbd_odometry-1]: process started with pid [72346]
[INFO] [rtabmap-2]: process started with pid [72348]
[INFO] [rtabmap_viz-3]: process started with pid [72350]
[rgbd_odometry-1] [INFO] [1755509509.717369858] [rtabmap.rgbd_odometry]: Odometry: frame_id               = base_footprint
[rgbd_odometry-1] [INFO] [1755509509.717501828] [rtabmap.rgbd_odometry]: Odometry: odom_frame_id          = odom
[rgbd_odometry-1] [INFO] [1755509509.717511763] [rtabmap.rgbd_odometry]: Odometry: publish_tf             = true
[rgbd_odometry-1] [INFO] [1755509509.717516009] [rtabmap.rgbd_odometry]: Odometry: wait_for_transform     = 0.100000
[rgbd_odometry-1] [INFO] [1755509509.717527437] [rtabmap.rgbd_odometry]: Odometry: log_to_rosout_level    = 4
[rgbd_odometry-1] [INFO] [1755509509.717545190] [rtabmap.rgbd_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[rgbd_odometry-1] [INFO] [1755509509.717549816] [rtabmap.rgbd_odometry]: Odometry: ground_truth_frame_id  =
[rgbd_odometry-1] [INFO] [1755509509.717553783] [rtabmap.rgbd_odometry]: Odometry: ground_truth_base_frame_id = base_footprint
[rgbd_odometry-1] [INFO] [1755509509.717557788] [rtabmap.rgbd_odometry]: Odometry: config_path            =
[rgbd_odometry-1] [INFO] [1755509509.717561879] [rtabmap.rgbd_odometry]: Odometry: publish_null_when_lost = true
[rgbd_odometry-1] [INFO] [1755509509.717565806] [rtabmap.rgbd_odometry]: Odometry: publish_compressed_sensor_data = false
[rgbd_odometry-1] [INFO] [1755509509.717569817] [rtabmap.rgbd_odometry]: Odometry: guess_frame_id         =
[rgbd_odometry-1] [INFO] [1755509509.717573712] [rtabmap.rgbd_odometry]: Odometry: guess_min_translation  = 0.000000
[rgbd_odometry-1] [INFO] [1755509509.717578334] [rtabmap.rgbd_odometry]: Odometry: guess_min_rotation     = 0.000000
[rgbd_odometry-1] [INFO] [1755509509.717582719] [rtabmap.rgbd_odometry]: Odometry: guess_min_time         = 0.000000
[rgbd_odometry-1] [INFO] [1755509509.717587161] [rtabmap.rgbd_odometry]: Odometry: expected_update_rate   = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1755509509.717591657] [rtabmap.rgbd_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1755509509.717595902] [rtabmap.rgbd_odometry]: Odometry: min_update_rate        = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1755509509.717600095] [rtabmap.rgbd_odometry]: Odometry: wait_imu_to_init       = false
[rgbd_odometry-1] [INFO] [1755509509.717605279] [rtabmap.rgbd_odometry]: Odometry: sensor_data_compression_format = .jpg
[rgbd_odometry-1] [INFO] [1755509509.717609098] [rtabmap.rgbd_odometry]: Odometry: sensor_data_parallel_compression = true
[rgbd_odometry-1] [INFO] [1755509509.717656318] [rtabmap.rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[rgbd_odometry-1] [INFO] [1755509509.720252016] [rtabmap.rgbd_odometry]: Setting odometry parameter "Odom/Strategy"="5"
[rgbd_odometry-1] [INFO] [1755509509.722925607] [rtabmap.rgbd_odometry]: Setting odometry parameter "OdomORBSLAM/VocPath"="/home/zyh/orbslam3/src/ORB_SLAM3/Vocabulary/ORBvoc.txt"
[rgbd_odometry-1] [INFO] [1755509509.736687251] [rtabmap.rgbd_odometry]: RGBDOdometry: approx_sync    = false
[rgbd_odometry-1] [INFO] [1755509509.737179926] [rtabmap.rgbd_odometry]: RGBDOdometry: topic_queue_size = 1
[rgbd_odometry-1] [INFO] [1755509509.737361054] [rtabmap.rgbd_odometry]: RGBDOdometry: sync_queue_size  = 5
[rgbd_odometry-1] [INFO] [1755509509.737494025] [rtabmap.rgbd_odometry]: RGBDOdometry: qos             = 0
[rgbd_odometry-1] [INFO] [1755509509.737624329] [rtabmap.rgbd_odometry]: RGBDOdometry: qos_camera_info = 0
[rgbd_odometry-1] [INFO] [1755509509.737749187] [rtabmap.rgbd_odometry]: RGBDOdometry: subscribe_rgbd = true
[rgbd_odometry-1] [INFO] [1755509509.737870784] [rtabmap.rgbd_odometry]: RGBDOdometry: rgbd_cameras   = 1
[rgbd_odometry-1] [INFO] [1755509509.737990784] [rtabmap.rgbd_odometry]: RGBDOdometry: keep_color     = false
[rgbd_odometry-1] [INFO] [1755509509.739138046] [rtabmap.rgbd_odometry]:
[rgbd_odometry-1] rgbd_odometry subscribed to:
[rgbd_odometry-1]    /rtabmap/rgbd_image
[rtabmap-2] [INFO] [1755509509.778198813] [rtabmap.rtabmap]: rtabmap(maps): latch                      = true
[rtabmap-2] [INFO] [1755509509.778511061] [rtabmap.rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-2] [INFO] [1755509509.778531765] [rtabmap.rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-2] [INFO] [1755509509.778539465] [rtabmap.rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-2] [INFO] [1755509509.778543866] [rtabmap.rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-2] [INFO] [1755509509.778548126] [rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-2] [INFO] [1755509509.778552149] [rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-2] [INFO] [1755509509.778557284] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-2] [INFO] [1755509509.778561668] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-2] [INFO] [1755509509.778580980] [rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[rtabmap-2] [INFO] [1755509509.786993925] [rtabmap.rtabmap]: rtabmap: frame_id      = base_footprint
[rtabmap-2] [INFO] [1755509509.787028666] [rtabmap.rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-2] [INFO] [1755509509.787035634] [rtabmap.rtabmap]: rtabmap: log_to_rosout_level  = 4
[rtabmap-2] [INFO] [1755509509.787040406] [rtabmap.rtabmap]: rtabmap: initial_pose  =
[rtabmap-2] [INFO] [1755509509.787044589] [rtabmap.rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-2] [INFO] [1755509509.787049037] [rtabmap.rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-2] [INFO] [1755509509.787059702] [rtabmap.rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-2] [INFO] [1755509509.787064545] [rtabmap.rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-2] [INFO] [1755509509.787068530] [rtabmap.rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false
[rtabmap-2] [INFO] [1755509509.787074702] [rtabmap.rtabmap]: rtabmap: gen_scan  = false
[rtabmap-2] [INFO] [1755509509.787079074] [rtabmap.rtabmap]: rtabmap: gen_depth  = false
[rtabmap-2] [INFO] [1755509509.853291791] [rtabmap.rtabmap]: RTAB-Map detection rate = 10.000000 Hz
[rtabmap-2] [INFO] [1755509509.853453241] [rtabmap.rtabmap]: rtabmap: Deleted database "/home/zyh/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-2] [INFO] [1755509509.853468124] [rtabmap.rtabmap]: rtabmap: Using database from "/home/zyh/.ros/rtabmap.db" (0 MB).
[rtabmap_viz-3] [INFO] [1755509509.894496059] [rtabmap.rtabmap_viz]: rtabmap_viz: Using configuration from "/home/zyh/.ros/rtabmapGUI.ini"
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rgbd_odometry-1] [WARN] [1755509510.741832720] [rtabmap.rgbd_odometry]: rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rgbd_odometry-1] rgbd_odometry subscribed to:
[rgbd_odometry-1]    /rtabmap/rgbd_image
[rtabmap_viz-3] [WARN] [1755509510.805529927] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rtabmap_viz-3] [INFO] [1755509510.807080185] [rtabmap.rtabmap_viz]: Reading parameters from the ROS server...
[rtabmap-2] [INFO] [1755509512.939720187] [rtabmap.rtabmap]: rtabmap: Database version = "0.21.5".
[rtabmap-2] [INFO] [1755509512.939760979] [rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-2] [INFO] [1755509512.953539179] [rtabmap.rtabmap]: Setup callbacks
[rtabmap-2] [WARN] [1755509512.953651838] [rtabmap.rtabmap]: rtabmap: Parameters subscribe_depth and subscribe_rgbd cannot be true at the same time. Parameter subscribe_depth is set to false.
[rtabmap-2] [INFO] [1755509512.953694136] [rtabmap.rtabmap]: rtabmap: subscribe_depth = false
[rtabmap-2] [INFO] [1755509512.953702239] [rtabmap.rtabmap]: rtabmap: subscribe_rgb = false
[rtabmap-2] [INFO] [1755509512.953709251] [rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-2] [INFO] [1755509512.953714153] [rtabmap.rtabmap]: rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[rtabmap-2] [INFO] [1755509512.953719974] [rtabmap.rtabmap]: rtabmap: subscribe_sensor_data = false
[rtabmap-2] [INFO] [1755509512.953725890] [rtabmap.rtabmap]: rtabmap: subscribe_odom_info = false
[rtabmap-2] [INFO] [1755509512.953731344] [rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-2] [INFO] [1755509512.953735934] [rtabmap.rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-2] [INFO] [1755509512.953741005] [rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-2] [INFO] [1755509512.953744362] [rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-2] [INFO] [1755509512.953749466] [rtabmap.rtabmap]: rtabmap: topic_queue_size = 1
[rtabmap-2] [INFO] [1755509512.953753824] [rtabmap.rtabmap]: rtabmap: sync_queue_size  = 10
[rtabmap-2] [INFO] [1755509512.953758947] [rtabmap.rtabmap]: rtabmap: qos_image       = 0
[rtabmap-2] [INFO] [1755509512.953763520] [rtabmap.rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-2] [INFO] [1755509512.953767673] [rtabmap.rtabmap]: rtabmap: qos_scan        = 0
[rtabmap-2] [INFO] [1755509512.953770446] [rtabmap.rtabmap]: rtabmap: qos_odom        = 0
[rtabmap-2] [INFO] [1755509512.953773532] [rtabmap.rtabmap]: rtabmap: qos_user_data   = 0
[rtabmap-2] [INFO] [1755509512.953817543] [rtabmap.rtabmap]: rtabmap: approx_sync     = false
[rtabmap-2] [INFO] [1755509512.953826223] [rtabmap.rtabmap]: Setup rgbd callback
[rtabmap-2] [INFO] [1755509512.956320017] [rtabmap.rtabmap]:
[rtabmap-2] rtabmap subscribed to (exact sync):
[rtabmap-2]    /odom \
[rtabmap-2]    /rtabmap/rgbd_image
[rtabmap_viz-3] [INFO] [1755509513.068983742] [rtabmap.rtabmap_viz]: Parameters read = 377
[rtabmap_viz-3] [INFO] [1755509513.069033486] [rtabmap.rtabmap_viz]: Parameters successfully read.
[rtabmap-2] [WARN] [1755509513.958281106] [rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.

Why is this happening?

[matlabbe]

rgbd_odometry is subscribing to "/rtabmap/rgbd_image", which doesn't exist.

[rgbd_odometry-1] rgbd_odometry subscribed to:
[rgbd_odometry-1]    /rtabmap/rgbd_image

Based on your remappings, set "subscribe_rgbd: False" or don't set it explicitly at all. It should then subscribe to RGB, depth and camera_info topics.