matlabbe

For the default odometry approach, you may start there: https://github.com/introlab/rtabmap/blob/master/corelib/src/odometry/OdometryF2M.cpp For what the code does, see this [paper](https://arxiv.org/pdf/2403.06341) Section 3.1.1 (following F2M approach).

Could be related to https://github.com/introlab/rtabmap_ros/pull/1214 I am not sure to see the difference from https://github.com/introlab/rtabmap_ros/compare/ros2...sandeepdutta:rtabmap_ros:ros2 than using a timer thread called in a different callback group. `commonMultiCameraCallback` and `processAsync` are...

I added some logs before "Produce" and at beginning of `process()` as "Consume" the data with corresponding stamps. I also added a sleep of 500 ms inside `process()` to take...

Thank you for the feedback, I started two months ago a [branch](https://github.com/introlab/rtabmap_ros/pull/1311) to implement the double buffer. I needed to do some refactoring to implement it in all topic callbacks,...

I feel that feature request would be better served in [grid_map](https://github.com/ANYbotics/grid_map) repo. Maybe by improving the description of the [GridMap](https://github.com/ANYbotics/grid_map/blob/73a5b61fc80c09be8a5744997b3ee3e6902a98fb/grid_map_msgs/msg/GridMap.msg#L12-L13) message, it could already be a step in that direction...

@iche033 thank you for the workarounds, changing to `ogre` (instead of `ogre2`) worked for my use case. This also answered my question here https://robotics.stackexchange.com/questions/113735/gazebo-gpu-lidar-seems-distorded-in-ignition-in-comparison-to-gazebo-classic (added for crossref)

Is it that line causing the issue? https://github.com/introlab/rtabmap/blob/d33e98a540fbea0d56dd9ddb8df7f9003229983f/corelib/src/camera/CameraStereoZedOC.cpp#L95 That could be fixed with `uStr2Float` function instead: https://github.com/introlab/rtabmap/commit/3d1eccbce1145596fea00c5b387538a0c83a5966

You are using PCL 1.14.1 built from source. That could be related to that. Are you using Ubuntu 22.04 or 24.04?

I am currently investigating what is happening when building latest PCL with c++17. Could also be related to this: https://github.com/PointCloudLibrary/pcl/issues/6126 I can reproduce seg faults with https://github.com/introlab/rtabmap/blob/master/docker/latest_deps/Dockerfile, though in my...

So I updated this [Dockerfile](https://github.com/introlab/rtabmap/blob/master/docker/latest_deps/Dockerfile) to show a working example when building latest PCL version on recent machines. In particular, to be most portable, try building PCL with: ``` cd...