Missing Pose Information and Incorrect Instructions

[kaineub]

I read the paper on this project and it caught my interest. Is there a more recent version of the code? This one doesn't quite work as it should. There is a merge conflict that hasn't been resolved in this repository and its submodule. Fixing it still doesn't make it work though. The instructions are missing prefixes for certain topics and rtabmap is launched without specifying or remapping the camera topics.

I managed to get the code working on my end but the evaluation fails because the pose isn't saved. I noticed that the code that should've saved that information was deleted in an earlier commit. Is there a reason for this?