matlabbe

If the UI cannot get parameters from the rosparam server, it means rtabmap node is down. you can look for potential errors on the terminal when you open Preferences dialog.

See https://github.com/introlab/rtabmap/pull/1152 for ORB-SLAM3 v1 support. Could potentially work on ROS2, though not tested myself.

Can you share the resulting database? There could be a problem with sensor frames, or wrong frame_id actually set in the image topic.

Make sure to launch rtabmap with `Kp/DetectorStrategy=2` to use also ORB when you use that dictionary afterwards. Can you compare with a dictionary created with: ``` rtabmap-console --Kp/DetectorStrategy 2 --Kp/MaxFeatures...

During online mapping, the similarity is estimated using this function: https://github.com/introlab/rtabmap/blob/0f03db9d7f720dd6b7d0018f4c3a8719ae4f3afa/corelib/src/Signature.cpp#L250-L287 Then if consecutive images similarity is over `Mem/RehearsalSimilarity`, it will be discarded. Same thing if the robot is not...

How large is the area in meters? are you also setting a voxel size? The voxel filter has some limit, though we implemented a workaround to split space in order...

> I also don't think I'm running out of RAM I am then not sure what is happening. Out of curiosity, can you copy/paste output of: ``` rtabmap-info --diff rtabmap.db...

Thx for the info, I see. 63 mapping sessions merged together. In case RGB resolution doesn't matter too much in your case, you could set also `Mem/ImagePostDecimation=2` when re-reprocessing, that...

Well, in general I would say if you can share the database I would take a look to reproduce the issue here, however, 70 GB may be too large for...

I created some issues above to test more your data. In the mean time, I saw in the dataset that sometime there are traversals of the same path on different...