matlabbe

Could be related to the local costmap, can you visualize the local costmap in rviz? If there is nothing, the controller may reject navigating because it cannot see anything.

It sounds like you have a different version of rtabmap_conversions package on your computer. Make sure you uninstalled the binaries to avoid this issue: ``` sudo apt remove ros-$ROS_DISTRO-rtabmap* ```

What are the errors?

If you want to test changes on `Vis/` or `Kp/` parameters, you need to disable usage of odometry features. Otherwise, the features from the database are passed through the Memory....

Can you show what the topic diagnostics of rgbd_odometry node say? (maybe a screenshot of it) ``` ros2 run rqt_runtime_monitor rqt_runtime_monitor ``` Can you also show the processing time used...

@AayushEIC you can click on "rgbd_odometry: Input status" to show the actually statistics on the right panel. EDIT: looking at the log file, there are a couple of issues that...

Can you try with the latest version of that launch file: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/realsense_d435i_color.launch.py ? (download the file and do `ros2 launch realsense_d435i_color.launch.py` directly)

@jbodhey see https://github.com/introlab/rtabmap_ros/issues/1221#issuecomment-2439676686

You can add `'Rtabmap/DetectionRate': '2'` to `parameters` to increase rate at which the map is updated (2 Hz for example). There should be a maximum of 1000 features captured in...

Example from my previous post: ``` parameters=[{ 'frame_id':'camera_link', 'subscribe_depth':True, 'subscribe_odom_info':True, 'approx_sync':False, 'wait_imu_to_init':True, 'Rtabmap/DetectionRate': '2', Vis/MaxFeatures': '2000'}] ``` It should use your GPU for at least 3D rendering. With nvidia-smi, we...