matlabbe

Could it be similar to this issue? https://github.com/introlab/rtabmap_ros/issues/1230 (or this comment https://github.com/introlab/rtabmap/issues/1062#issuecomment-1597997914) I would build without Qt on RPI (`-DWITH_QT=OFF`) if you are planning to use ROS.

Even if it was recreating the individual meshes, for 5 MB database, it should take seconds. It is hard to tell what is happening in your case. I would add...

Another related post: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-td11037.html#a11213

It seems the remap is wrong. Maybe try with: ```xml ```

Actually, I cannot get the same error than you with exactly the same launch file than you:  which seems to work fine.

The UI is generally lagging when the checkerboard is not detected, which could make it difficult to change the checkerboard config before doing calibration. The start/stop button would help to...

Can you have a stereo camera? That could help to get depth of the lines detected in 2D images. Once you have depth corresponding to pixels on the lines, you...

You could use [pointcloud_to_depthimage](http://wiki.ros.org/rtabmap_util#rtabmap_util.2Fpointcloud_to_depthimage) (with `approx_sync:=false`) to convert your point cloud into a depth image. You can feed that depth image with RGB image to rtabmap node. Then set `Grid/Sensor=2`...

To make [pointcloud_to_depthimage](http://wiki.ros.org/rtabmap_util#rtabmap_util.2Fpointcloud_to_depthimage) works correctly, it requires a valid `sensor_msgs/CameraInfo` using camera optical `frame_id`, with TF/URDF between camera and lidar accurate. In your case, the point cloud seems to be...

Set `Icp/PointToPlaneRadius` to 0 for `icp_odometry` node. I think that configuration was for laser scan topic, not point cloud topic. Or if the point cloud is 2D (which looks like...