MrDarknessWolf

> There are some issues on jetson with native `rtabmap_viz`. I would not launch `rtabmap_viz` and use RVIZ with `rtabmap_rviz_plugins` instead (or even launch `rtabmap_viz` on remote computer instead). whats...

> Did you use the "color D435i" or "IR D435i" example launch files? With color, I did have an example with current realsense driver with not valid depth image, so...

> So all launch examples are working, can you give the launch / commands that are not working? So the basic ros2 launch rtabmap_launch rtabmap.launch.py doesnt launch at all it...

> By looking at the message above the error : `expected {double} got {string}`, might be caused by the `wait_for_transform` parameter that is interpreted as a string in `/rtabmap_viz/src/GuiWrapper.cpp` ?...

> Also, I understand that the map is saved in binary format, what information is included in the file? I am trying to convert it into PCD format for viewing...