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feat(perception): RTAB-Map persistence + multi-session mapping #123

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opened 2026-03-02 09:09:18 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:09:18 -05:00
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Summary

Persistent map storage and multi-session SLAM with automatic relocalization.

Requirements

  • Map database: Save RTAB-Map DB to disk on shutdown, reload on startup
  • Multi-session: Append new mapping data to existing map across sessions
  • Relocalization: On startup, detect if robot is in a previously mapped area and localize
  • Map export: Export 2D occupancy grid as PGM + YAML for Nav2 static maps
  • 3D export: Export point cloud as PLY/PCD for visualization
  • Map management: ROS2 service to list/load/delete saved maps
  • Auto-save: Periodic checkpoint saves every 5 minutes during mapping
  • Memory management: Limit map size, prune old/low-quality keyframes

Agent: sl-perception

Labels: phase-2, slam

## Summary Persistent map storage and multi-session SLAM with automatic relocalization. ## Requirements - **Map database**: Save RTAB-Map DB to disk on shutdown, reload on startup - **Multi-session**: Append new mapping data to existing map across sessions - **Relocalization**: On startup, detect if robot is in a previously mapped area and localize - **Map export**: Export 2D occupancy grid as PGM + YAML for Nav2 static maps - **3D export**: Export point cloud as PLY/PCD for visualization - **Map management**: ROS2 service to list/load/delete saved maps - **Auto-save**: Periodic checkpoint saves every 5 minutes during mapping - **Memory management**: Limit map size, prune old/low-quality keyframes ## Agent: sl-perception ## Labels: phase-2, slam
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#123
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