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 0.2.7
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Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| slam_toolbox-0.2.7.tar.gz | 110.6 kB | With provenance | Details for slam_toolbox-0.2.7.tar.gz |
Built distributions (wheels)
| File | Interpreter | ABI | Platform | Actions Reset |
|---|---|---|---|---|
| slam_toolbox-0.2.7-cp312-cp312-manylinux_2_34_x86_64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.7-cp312-cp312-manylinux_2_34_x86_64.whl |
| slam_toolbox-0.2.7-cp311-cp311-manylinux_2_34_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.7-cp311-cp311-manylinux_2_34_x86_64.whl |
| slam_toolbox-0.2.7-cp310-cp310-manylinux_2_34_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.34+ x86-64 | Details for slam_toolbox-0.2.7-cp310-cp310-manylinux_2_34_x86_64.whl |
Total release size: 1.1 MB
Release files / slam_toolbox-0.2.7.tar.gz
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| Tags | Source |
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| Tags | CPython 3.12 Linux glibc 2.34+ x86-64 |
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| Download URL | slam_toolbox-0.2.7-cp311-cp311-manylinux_2_34_x86_64.whl |
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| Size | 314.8 kB |
| Tags | CPython 3.11 Linux glibc 2.34+ x86-64 |
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| Tags | CPython 3.10 Linux glibc 2.34+ x86-64 |
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