SlamToolbox
面向 ROS2 激光点云地图的交互式处理工具，通过终端菜单完成 rosbag 录制、点云帧提取、 位姿修正、动态障碍物清除、3D 地图构建和 2D 栅格地图生成。
环境要求
- Ubuntu 22.04 + ROS2 Humble，或 Ubuntu 24.04 + ROS2 Jazzy（x86_64）。
- 地图数据统一存放在
~/Map下。
安装
-
安装 ROS2 和 pip：
Ubuntu 22.04：
sudo apt update sudo apt install -y ros-humble-desktop python3-pip
Ubuntu 24.04：
sudo apt update sudo apt install -y ros-jazzy-desktop python3-pip
-
加载 ROS2 环境并安装 slam_toolbox：
Ubuntu 22.04：
source /opt/ros/humble/setup.bash pip install slam_toolbox
Ubuntu 24.04（系统 pip 受 PEP 668 保护，需加
--break-system-packages）：source /opt/ros/jazzy/setup.bash pip install --break-system-packages slam_toolbox
-
启动：
slam_toolbox
使用
每次打开新终端，先 source /opt/ros/<发行版>/setup.bash 再运行 slam_toolbox，
按终端菜单操作即可。地图输出到 ~/Map/<地图名称>/，其中 map/ 目录包含最新的
map.pcd（3D 地图）和 map.pgm、map.yaml（2D 栅格地图）。
1 maintainer
Metadata
1 maintainer
Release files for slam-toolbox 0.2.2
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| slam_toolbox-0.2.2.tar.gz | 91.2 kB | With provenance | Details for slam_toolbox-0.2.2.tar.gz |
Built distributions (wheels)
| File | Interpreter | ABI | Platform | Actions Reset |
|---|---|---|---|---|
| slam_toolbox-0.2.2-cp312-cp312-manylinux_2_34_x86_64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.2-cp312-cp312-manylinux_2_34_x86_64.whl |
| slam_toolbox-0.2.2-cp311-cp311-manylinux_2_34_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.2-cp311-cp311-manylinux_2_34_x86_64.whl |
| slam_toolbox-0.2.2-cp310-cp310-manylinux_2_34_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.2-cp310-cp310-manylinux_2_34_x86_64.whl |
Total release size: 967.2 kB
Release files / slam_toolbox-0.2.2.tar.gz
| Download URL | slam_toolbox-0.2.2.tar.gz |
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| Size | 91.2 kB |
| Tags | Source |
|
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| Download URL | slam_toolbox-0.2.2-cp312-cp312-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 294.1 kB |
| Tags | CPython 3.12 Linux glibc 2.34+ x86-64 |
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SHA-256 checksum How to use checksums |
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twine/7.0.0 CPython/3.13.14
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| Download URL | slam_toolbox-0.2.2-cp311-cp311-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 291.8 kB |
| Tags | CPython 3.11 Linux glibc 2.34+ x86-64 |
|
SHA-256 checksum How to use checksums |
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Yes |
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twine/7.0.0 CPython/3.13.14
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| Download URL | slam_toolbox-0.2.2-cp310-cp310-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 290.2 kB |
| Tags | CPython 3.10 Linux glibc 2.34+ x86-64 |
|
SHA-256 checksum How to use checksums |
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Yes |
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twine/7.0.0 CPython/3.13.14
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