Haruki Tayama

Hello, nice to meet you. I am working with matsuzawa1. Sorry for the late reply. I also tried changing parameters, but could not solve this problem. I will share the...

Earlier, I forgot to attach the file I was using. I am using [localization_launch.txt](https://github.com/introlab/rtabmap_ros/files/13741936/localization_launch.txt)(this is a text file), which is customized based on "opensource_tracking.launch" introduced [here](https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i).

Thank you for your reply. By using GTSAM, localization worked correctly. I'm very grateful for your advice. There's one more thing I'd like to ask you about. Now, I'm changing...

I wish you a happy New Year. Thanks for taking the time to explain that to me. I was able to change to GTSAM correctly in the launch file.