Note: This tutorial assumes that you have completed the previous tutorials: RGB-D Hand-Held Mapping With a Kinect, Setup RTAB-Map on Your Robot!.
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Mapping and Navigation with Turtlebot

Description: This tutorial shows how to use RTAB-Map with Turtlebot for mapping and navigation.

Tutorial Level: INTERMEDIATE

Next Tutorial: Stereo Outdoor Mapping


(Originally from this post from RTAB-Map's forum)

This page will show how to use rtabmap with navigation stack on a Turtlebot3.



# Noetic:
sudo apt install ros-noetic-rtabmap-demos ros-noetic-turtlebot3-simulations ros-noetic-turtlebot3-navigation ros-noetic-dwa-local-planner 

Turtlebot mapping with rtabmap


export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_gazebo turtlebot3_world.launch

export TURTLEBOT3_MODEL=waffle
roslaunch rtabmap_demos demo_turtlebot3_navigation.launch

Autonomous Navigation

When a map is created (in mapping mode or localization mode), you can then follow the same steps from 2.3.2 of the Autonomous Navigation of a Known Map with TurtleBot tutorial to navigate in the map.

Normally, you only have to "drop" a navigation goal on the map with RVIZ to see the robot moving autonomously to it. Click on "2D Nav Goal" button in RVIZ to set a goal. You should see a planned path (red line) like this to the goal set (green arrow):

Turtlebot navigation with rtabmap

The commands sent by move_base:

$ rostopic echo /mobile_base/commands/velocity

Localization mode

After a mapping session as above, a database is saved here ~/.ros/rtabmap.db. Now restart the demo_turtlebot3_navigation.launch with argument localization:=true:

 $ roslaunch rtabmap_demos demo_turtlebot3_navigation.launch localization:=true

Move the robot around until it can relocalize in the previous map, then the 2D map would re-appear again when a loop closure is found.


  • On autonomous navigation, if teleop node is also sending commands on the same topic as move_base at the same time, the robot may not move.

  • If there are many TF warnings, you can try to increase robot_state_publisher's publishing frequency in turtlebot_bringup/launch/includes/robot.launch.xml from 5 to 10 Hz. You can also increase wait_for_transform argument of demo_turtlebot_mapping.launch to 0.2.

  • If sometimes the robot is planning a straight path through an obstacle, it may be related to this issue. This can be fixed by using rtabmap_costmap_plugins::StaticLayer instead of costmap_2d::StaticLayer here.

Wiki: rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot (last edited 2023-11-19 21:20:52 by MathieuLabbe)