ROS IndexNo version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rko_slam at Robotics Stack Exchange
No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PRBonn/rko_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2026-09-29 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
ROS2 LiDAR-inertial SLAM and multi-session alignment
Additional Links
Maintainers
- Meher Malladi
Authors
No additional authors.
rko_slam
ROS2 LiDAR-inertial SLAM and multi-session alignment
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_jazzy.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_kilted.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_lyrical.yaml)
[](https://github.com/PRBonn/rko_slam/actions/workflows/ros_rolling.yaml)
[](https://prbonn.github.io/rko_slam/)
[](/LICENSE)
[](/)
A drive that returns to where it started, with rko_lio, and with rko_slam running on top of it
Quick start
rko_slam runs on rko_lio, my LiDAR-inertial odometry, or on your own odometry. Build it with rko_lio:
cd <ws>/src
git clone https://github.com/PRBonn/rko_lio
git clone https://github.com/PRBonn/rko_slam
cd <ws> && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select rko_lio rko_slam
What it needs
- A LiDAR (
sensor_msgs/PointCloud2with per-point timestamps) and an IMU (sensor_msgs/Imu). - The LiDAR and IMU frames linked to your base frame on TF, e.g. by your URDF.
Run
odometry_and_slam.launch.py starts rko_lio and rko_slam together and finds the LiDAR and IMU topics and your base
frame by itself. Start your robot, then:
ros2 launch rko_slam odometry_and_slam.launch.py rviz:=true
From a bag, in two terminals, bag first:
ros2 bag play <bag> --clock
ros2 launch rko_slam odometry_and_slam.launch.py use_sim_time:=true rviz:=true
If your setup differs:
| Your setup | Do this |
|---|---|
Base frame named other than base_link, base_footprint or base
|
base_frame:=<yours> |
| Several LiDAR or IMU topics, e.g. the LiDAR driver’s own IMU | an rko_lio config file naming yours and your base frame, below |
LiDAR and IMU messages share one frame_id and no TF links it to a base frame, e.g. a Livox with its built-in IMU |
an rko_lio config file with identity extrinsics, below |
| Topics or TF take over 10 s to appear | autodetect_timeout:=<seconds> |
Something else already publishes odom <- <your base frame>, e.g. robot_localization or the bag’s /tf
|
turn it off, or run with your own odometry, below |
An rko_lio config file, passed with rko_lio_config_file:=<file>, replaces the autodetection
(all keys):
lidar_topic: /livox/lidar
imu_topic: /livox/imu
# LiDAR and IMU in one frame, no TF
base_frame: livox_frame
extrinsic_lidar2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
extrinsic_imu2base_quat_xyzw_xyz: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
With your own odometry
slam.launch.py starts rko_slam alone, on any locally consistent odometry that publishes odom <- base_link on TF:
```bash
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| sophus | |
| rko_lio | |
| rclcpp | |
| rclcpp_components | |
| builtin_interfaces | |
| geometry_msgs | |
| sensor_msgs | |
| std_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros | |
| rosbag2_storage |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.