Re: rtabmap ubuntu - difference between standalone and ROS version?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ubuntu-difference-between-standalone-and-ROS-version-tp11p13.html


The standalone is independent of ROS, it works on Ubuntu, Mac OS X and Windows. If you want to do only Kinect hand-held scanning to export the point cloud to a PLY, PCD point cloud formats, you can use only the standalone. You can start/stop a scanning from the interface.

The ROS rtabmap package is a wrapper of the RTAB-Map library (installed with the standalone) for inputs/outputs compatible with standard ROS messages. If you plan to integrate RTAB-Map to a larger system (navigation/robot), I recommend to install the ROS package too. The examples on how RTAB-Map works in ROS can be found in the launch files on the ROS wiki page.