matlabbe

> Is there a solution to mitigate this effect? If the points are stable, there is nothing you can do on rtabmap side. You may have to filter them externally...

What are the errors? Normally if you use `foxy-devel` branch of both repos, they should be compatible (and same version of latest foxy binary release `0.21.1-foxy`). https://github.com/introlab/rtabmap/tree/foxy-devel https://github.com/introlab/rtabmap_ros/tree/foxy-devel To use...

You cannot loop back a rosbag with rtabmap. rtabmap checks the header in the topics and if time jumps back in the past, the frames are ignored. So assuming you...

Can you share a rosbag of the rgb frames (+ camera_info + tf + tf_static) along the database you are trying to localize on? If you are using the same...

Did you compare with the realsense camera in monocular mode? For a quick test you can do a hand-held localization session following a typical trajectory that the drone would do....

Yes, both would reprocess independently the images by default. We can however optimize how data is transferred to avoid duplicating same processes (e.g., re-extracting same visual features already extracted from...

1. If the maps between floors are not connected to know that one map is over than the other, `GridGlobal/AltitudeDelta` won't help. If the maps are not connected, then you...

It seems there is an issue with the Lidar to IMU transform. Optimizing with IMU on the back-end makes the trajectory worst. With GTSAM optimizer, it is slightly better, but...

Forgot to answer the question about the occupancy grid per floor. The occupancy grid will be automatically generated with nodes falling above and below the current position and `GridGlobal/AltitudeDelta` parameter....

Maybe you are hiding the leaf topics, try this: