jesussanchez12352

I was using stock ROS2 Humble. I was also using stock RTAB-MAP ROS2 with the following commands ``` ros2 launch rtabmap_examples realsense_d400.launch.py ``` ``` ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true rgb_camera.profile:=640x360x30...

For now I am going to reboot my PC and try to test on Ubuntu 20.04 with ROS2 galactic to see if that's stable there. (never mind I see rolling...

So I have tried [#1206](https://github.com/introlab/rtabmap_ros/pull/1206) the RTAB MAP experience is a lot smoother now (an upgrade from 0.04 fps to 2 fps). I am going to attempt the multithreading node....

@matlabbe so I built [#1225](https://github.com/introlab/rtabmap_ros/pull/1225), [#1206](https://github.com/introlab/rtabmap_ros/pull/1206), and [#1214](https://github.com/introlab/rtabmap_ros/pull/1214) all from source. All work a lot more smoothly than the current release, however, the most recent PR you suggested ([#1225](https://github.com/introlab/rtabmap_ros/pull/1225)) runs...

> You can checkout this branch: [updating_examples_and_readme](https://github.com/introlab/rtabmap_ros/tree/updating_examples_and_readme) > > Switching `qos` between 0 and 1 can also give different results. Another tuning is the choice of the DDS algorithm. It...

Sorry, I have been a bit busy with finals and I have a family trip in a bit. But is there a ROS2 bag that you reccomend using? Do you...

Happy new year. I have been a bit busy but it seems that if there is fluctuation between the frames streamed to rtabmap there will be layering. There seemed to...

 never mind had it happen again when at 30 fps

@matlabbe is the loop detection intended to cause problems like this?