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slam-toolbox-online

Configure SLAM Toolbox online synchronous mode for real-time SLAM tasks.

18|2|Updated Apr 20, 2026
Search Tags:#real-time#mapping#ros2#slam#scan-matching#loop-closure
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill slam-toolbox-online
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: slam-toolbox-online
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/slam-toolbox-online
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill slam-toolbox-online

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

SLAM Toolbox Online mode enables real-time, synchronous SLAM processing by streaming laser scans, updating the pose graph, and publishing the map while coordinating frames and topics in Nav2.

Core Features & Use Cases

  • Real-time online SLAM configuration: enable OnlineSyncSlamToolbox and manage scan processing cadence and graph updates.
  • Frame and topic configuration: specify odom, map, base_link frames and the /scan topic to integrate with robot hardware or simulations.
  • Parameter tuning for accuracy and performance: adjust map resolution, maximum laser range, scan processing intervals, loop-closure settings, and solver options to balance latency and drift.
  • Use Case: during live exploration or mapping tasks, configure online SLAM for immediate map feedback and robust loop closure while maintaining low CPU usage.

Quick Start

Start the OnlineSyncSlamToolbox with your robot's frames, topics, and mapper settings to begin real-time mapping.

Frequently Asked Questions about slam-toolbox-online

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I configure real-time SLAM in ROS2 for live mapping?▼

To configure real-time SLAM in ROS2, enable the OnlineSyncSlamToolbox, define your odom, map, and base_link frames, and stream laser scans to update the pose graph and publish the map.

What is online synchronous SLAM and when do I need it?▼

Online synchronous SLAM processes laser scans and updates the pose graph in real time. You need it during live exploration tasks when you require immediate map feedback and robust loop closure.

How do I tune loop closure and scan matching parameters for SLAM Toolbox?▼

Tune loop closure and scan matching in SLAM Toolbox by adjusting solver options, scan processing intervals, and map resolution to balance mapping latency and drift during live operation.

Does SLAM Toolbox online mode work with Nav2 frames and scan topics?▼

Yes, SLAM Toolbox online mode integrates with Nav2 by coordinating standard frames like odom, map, and base_link, and processing laser data directly from the /scan topic.

Why does my real-time SLAM mapping have high CPU usage?▼

High CPU usage during real-time SLAM mapping often results from dense map resolution or high scan processing cadence. Adjust solver settings and maximum laser range to reduce computational load.

What is the best way to balance latency and drift in real-time SLAM?▼

The best way to balance latency and drift in real-time SLAM is by tuning loop-closure settings, scan processing intervals, and solver parameters to optimize graph updates for your specific robot.

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