SlamToolbox
面向 ROS2 激光点云地图的交互式处理工具，通过终端菜单完成地图数据录制、点云帧提取、回环检测修正、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）。
Interactive SLAM GUI 显示
Interactive SLAM 通过 Docker 容器 + X11 转发显示界面，两种环境均可使用：
- WSL2：需 Windows 11 的 WSLg（
WSL2_GUI_APPS_ENABLED=1、DISPLAY=:0）， 或自行安装 VcXsrv 等 X server 并正确设置DISPLAY。WSL 下自动使用 Mesa 软件渲染，无需 NVIDIA 容器运行时。 - Ubuntu 桌面：在 X11 / Wayland 桌面会话中运行即可。若主机有 NVIDIA GPU 且
已安装
nvidia-container-toolkit，会自动启用 GPU 直通；否则回退到/dev/dri或软件渲染。
如自动选择有误，可用 SLAM_TOOLBOX_GPU_MODE=gpu|dri|software 强制指定渲染后端。
HiDPI 界面缩放
容器里的 Dear ImGui 使用固定 13px 字体，不跟随桌面的 DPI 缩放，高分辨率屏上
界面组件会偏小。启动 GUI 时会自动读取宿主机的 Xft.dpi 计算缩放系数
（范围 1.0–2.5），通过在容器内编译并 LD_PRELOAD 一个小型垫片放大字体与控件，
无需修改镜像。可用 SLAM_TOOLBOX_UI_SCALE 手动指定系数，设为 1 关闭缩放：
SLAM_TOOLBOX_UI_SCALE=2 slam_toolbox
许可证
本项目采用 Mozilla Public License 2.0（MPL-2.0） 协议开源。
ERASOR2、Removert 等第三方上游项目，以独立容器形式分发，遵循各自的上游许可证，详见 NOTICE。
1 maintainer
Metadata
1 maintainer
Release files for slam-toolbox 0.2.6
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-0.2.6.tar.gz | 103.4 kB | With provenance | Details for slam_toolbox-0.2.6.tar.gz |
Built distributions (wheels)
| File | Interpreter | ABI | Platform | Actions Reset |
|---|---|---|---|---|
| slam_toolbox-0.2.6-cp312-cp312-manylinux_2_34_x86_64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.6-cp312-cp312-manylinux_2_34_x86_64.whl |
| slam_toolbox-0.2.6-cp311-cp311-manylinux_2_34_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.6-cp311-cp311-manylinux_2_34_x86_64.whl |
| slam_toolbox-0.2.6-cp310-cp310-manylinux_2_34_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.6-cp310-cp310-manylinux_2_34_x86_64.whl |
Total release size: 1.0 MB
Release files / slam_toolbox-0.2.6.tar.gz
| Download URL | slam_toolbox-0.2.6.tar.gz |
|---|---|
| Size | 103.4 kB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
72336858bf8feddd47c7336b294a1a930695ef7129f9d98d4642492b2ac4b8ae
|
|
BLAKE2b-256 checksum How to use checksums |
f8c54d1c8ac8188cb125ebf6ff49ec5b211adbf3ab35de92c54ca2747c6e4f1a
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.16
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Nov 6, 2026.
Transparency logRelease files / slam_toolbox-0.2.6-cp312-cp312-manylinux_2_34_x86_64.whl
| Download URL | slam_toolbox-0.2.6-cp312-cp312-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 308.8 kB |
| Tags | CPython 3.12 Linux glibc 2.34+ x86-64 |
|
SHA-256 checksum How to use checksums |
399e5cd8d3cb325d231940b156a93ee793cce27e4ad1633038c3109f263c9496
|
|
BLAKE2b-256 checksum How to use checksums |
afc0a7b7ac37e14d841afea3f03a4f9d71310c00940d6484531ad40bda1464a5
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.16
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Nov 6, 2026.
Transparency logRelease files / slam_toolbox-0.2.6-cp311-cp311-manylinux_2_34_x86_64.whl
| Download URL | slam_toolbox-0.2.6-cp311-cp311-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 306.5 kB |
| Tags | CPython 3.11 Linux glibc 2.34+ x86-64 |
|
SHA-256 checksum How to use checksums |
b40c851edc08aa41b92b93a9c2a6e62b178d911ca4c0ca5ebdb4a0def974b52c
|
|
BLAKE2b-256 checksum How to use checksums |
53360b147711fc6dfcf68c8071b18831890f3bdf46794e40ccbf99f6bde4e6c6
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.16
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Nov 6, 2026.
Transparency logRelease files / slam_toolbox-0.2.6-cp310-cp310-manylinux_2_34_x86_64.whl
| Download URL | slam_toolbox-0.2.6-cp310-cp310-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 304.9 kB |
| Tags | CPython 3.10 Linux glibc 2.34+ x86-64 |
|
SHA-256 checksum How to use checksums |
b7e7ef1a22e3be1f53082ea62cdb68bd37b8e2364490a653b4b0069a30326f7c
|
|
BLAKE2b-256 checksum How to use checksums |
5d88cefcb68987fa3db34a3dc2b35ccd097bb533c847fbf5440eb19b05650144
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.16
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Nov 6, 2026.
Transparency logSecurity for slam-toolbox 0.2.6
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
Full provenance
All 4 files in this release have been uploaded with provenance metadata.
Attestation for slam_toolbox-0.2.6.tar.gz
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Nov 6, 2026.
Transparency logA note on package security
PyPI is a repository for distributing packages, not a service for auditing them. While third-party security researchers and our staff do their best to detect and remove malicious packages, PyPI cannot guarantee the quality, security or suitability of any given package.
To learn more about protecting yourself from malicious actors, visit our package security documentation.
