matlabbe

The "append" mode is implicitly handled with the loop closure detector and by setting `Rtabmap/StartNewMapOnLoopClosure` parameter to `true` (set [here](https://github.com/introlab/rtabmap/blob/1ab0133f140a7de6c9e4b077bb9d5bdf82bf5942/app/android/jni/RTABMapApp.cpp#L137) for mobile apps) to avoid adding new data to database...

Alright, you can revert for now. About the issue, the build error seems coming from upstream package `ros-jazzy-gtsam`: ``` 06:38:20 DEBUG: [ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o 06:38:20 DEBUG: cd...

It looks like reverting to old version made the ubuntu noble fails: https://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/ for a different reason. It seems the RHEL issue with GTSAM won't be fixed soon, I don't...

Thanks for the tip, I could reproduce the GTSAM issue with a simple Dockerfile. See https://github.com/borglab/gtsam/issues/1769 I suggested them a fix, you may comment if it makes sense.

To avoid waiting for next gtsam release, I just removed gtsam dependency in that new release https://github.com/ros/rosdistro/pull/41892 for jazzy.

Is the IMU published by the camera? If not, there could be a small angle difference between IMU and camera frames. For the grid, many obstacles are caused by the...

With pure stereo, that is an issue:  If you can add texture somehow on the wall, that would help to see obstacles on it at least....

You may want to do icp_odometry instead (example [here](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/vlp16.launch.py)). There is a lot of drift or you didn't set correctly the fixed_frame_id of point_cloud_assembler, causing point_cloud_assembler to not correctly assemble...

I [updated](https://github.com/introlab/rtabmap_ros/commit/f9ad71a7afda843011dae31cc80f82e0ecc034ce) the code recently to be less sensible to that warning. In your cases, the warning would not have appear. However, the frame is still dropped. What is detected...

This Dockerfile can be a good starting point: https://github.com/introlab/rtabmap_ros/blob/master/docker/noetic/superpoint/Dockerfile, by installing ROS2 Humble instead of ROS Noetic. I'll check later if I could make a dockerfile for humble.