KimchiPizza

> 2. use `subscribe_rgbd: true` and `rgbd_cameras: 2` for rtabmap node, then remap `rgbd_image0` to topic from `rgb_sync` and `rgbd_image1` to topic from `rgbd_sync`. @matlabbe I tried method 2, but...

@matlabbe As you said, the rgb image and dummy depth image were entered into the rgbd sync node to create the rgbd image1. The topic received from the rgbd camera...

@matlabbe These are the rgbd0 and rgbd1 topics that are the inputs of the rtabmap node. The frame_id of global_descriptor/rgb_compressed/depth_compressed It's empty, but could this be a problem? Other headers'...

@matlabbe Thank you for reply I have two rgbd_sync nodes, and one rtabmap node. there's no odometry node. Since there is no odometry node, the odom frame id parameter has...

@matlabbe Hello, my rtabmap is 0.21.10-humble. And I hardcoded rtabmap 0.21.10 to add what you committed #3b5a4ed At rgb_sync node, I set `fill_empty_depth` True. At rtabmap node, ``` 'subscribe_odom_info':False, 'odom_frame_id':'base_footprint',...

I tried a few more times and found the following error.

I rebuilded rtabmap_slam package as debug mode and tried agian. this is my gdb log. bt full ``` #0 __pthread_kill_implementation (threadid=281473208399936, signo=signo@entry=6, no_tid=no_tid@entry=0) at ./nptl/pthread_kill.c:44 tid = 1389493 ret =...

I confirmed that only the rtabmap package is the 0.21.9 version. The other packages were built in MULTI RGB mode of 0.21.10. So I rebuilt the rtabmap package and it...

how about Kp/MaxFeatures? It's a parameter that limits the maximum number of keypoints (feature points)

I think it's camera problem, Check the camera FPS without rtabmap node and sync node.