matlabbe

Not sure why rtabmap switched from rgbd_image to rgb image input between these two logs: ``` [ WARN] [1720443486.890467063]: /rtabmap: Did not receive data since 5 seconds! Make sure the...

To get loop closure detection working, I suggest to use depth image of the oak as it is available. To do so, you will need to use RGBDImage interface. Following...

Make sure TF for wheel odometry and visual odometry are not published, robot_localization will publish it. For VO, add `publish_tf_odom:=false` to `rtabmap.launch.py` command to disable it. For wheel odometry, this...

We rely on TF to get more accurate odometry corresponding on input data stamps (image or lidar). If the odometry topic is linked to rtabmap node, then just the covariance...

For the odometry latency, do you mean there is more latency on python code or rtabmap's odometry? For the odometry correctly, either you use TF to get `map->odom` transform to...

For problem 1, I created https://github.com/introlab/rtabmap_ros/issues/1186, which may be the cause. I think you could just ignore the warning if it was one of the causes cited there. For problem...

The point cloud topic doesn't look right. Instead of setting 0 or NaN for invalid readings, it sets a maximum of some distance:  When doing ICP on this, it...

See https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html rtabmap binaries are not yet available for ros2 jazzy though (https://github.com/introlab/rtabmap_ros/issues/1152), but you could build rtabmap and rtabmap_ros from source in your `ros2_ws`. ``` sudo apt install ros-jazzy-desktop...

1.5 MB/s at 10 Hz image data is not too bad. Based on freenect example [here](http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping), it was ~900 KB/s for 5Hz using `rgbd_sync`. For the 30 sec lack of...

The `odom_rgbd_image` will include the features extracted by VO. You should connect this topic to rtabmap if you want to use `--Mem/UseOdomFeatures true` of rtabmap node (with `'subscribe_rgbd': True`). This...