matlabbe

It looks like an issue with CUDA/Torch: ``` [rgbd_odometry-1] terminate called after throwing an instance of 'c10::AcceleratorError' [rgbd_odometry-1] what(): CUDA error: no kernel image is available for execution on the...

So, I created an example of a working docker image that can run rtabmap with superpoint/superglue. See https://github.com/introlab/rtabmap_ros/tree/ros2/docker/jazzy/superpoint

You could only install PyTorch, which will install libtorch at the same time. When building rtabmap, just set the correct directory of libtorch so that cmake can find `TorchConfig.cmake` file....

You may ran out of RAM. Try: ``` export MAKEFLAGS="-j1" ``` before doing colcon build. Increase number of threads accordingly to your RAM.

GPU is not required, unless you want to visualize 3D point clouds live. The underlaying visual odometry and loop closure / grpah optimization performance should be fairly the same without...

Known working build was with `nvcr.io/nvidia/pytorch:22.08-py3` [image](https://github.com/introlab/rtabmap_ros/blob/ros2/docker/noetic/superpoint/Dockerfile) and ros1 noetic. Never tried myself on newer images. Latest images: https://catalog.ngc.nvidia.com/orgs/nvidia/containers/pytorch

From where did you do "docker build" ? For the COPY to work correctly, we have to launch it from base rtabmap folder: ``` cd rtabmap docker build -t rtabmap:jammy...

Here is a way to convert at least the images to a rosbag with the current version. I'll make another follow-up post with some changes needed in the library to...

To include the ground truth in the rosbag as a TF frame, you will need to build/install `rtabmap` with this [commit](https://github.com/introlab/rtabmap/commit/c774ef641ac9605b2de0fb5a70b3ec002e5d9201), and `rtabmap_ros` with this [commit](https://github.com/introlab/rtabmap_ros/commit/7d4de30ec78476f35bc30542a648ddd43f753c88). 1. Following the config...

# ROS2 Example Following up instructions above, I ported `data_player` node on ROS2 in this [commit](https://github.com/introlab/rtabmap_ros/commit/bda8f16bb81d3257025df5d0a23457b38bca1e82). 1. Do the same steps above to get the `output.db` file. 2. Convert RTAB-Map's...