matlabbe

Maybe a useful link for you: http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping You only have to install freenect on RPI, and rtabmap on laptop.

You should now use `rtabmap_sync/rgbd_sync` (see [Migration guide](http://wiki.ros.org/rtabmap_ros#rtabmap_ros.2Fnoetic_and_newer.Migration_Guide_New_Interface_Noetic.2FROS2) for latest rtabmap_ros version)

If you are using a custom launch file using the old interface, yes. If you are using a launch file that is installed from that rtabmap version and it fails,...

I updated the tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping Other launch files: https://github.com/introlab/rtabmap_ros/tree/master/rtabmap_demos/launch https://github.com/introlab/rtabmap_ros/tree/master/rtabmap_examples/launch https://github.com/introlab/rtabmap_ros/tree/master/rtabmap_launch/launch

For `approx_sync_max_interval`, it can be set as parameter for rgbd_odometry and rtabmap nodes. For the 134 sec difference between the timestamps, I am not sure where/how the odom is computed,...

rtabmap is generally only for mapping. If you need to navigate, I'll suggest to look at the [navigation stack](http://wiki.ros.org/navigation/Tutorials/RobotSetup) of ROS (e.g., `move_base`). There is an example of integration between...

I created a pull request [here](https://github.com/introlab/rtabmap/pull/1152) till I have more time to debug. There are some issues when enabling IMU... that seems more related to ORB_SLAM3.

I merged this pull request https://github.com/introlab/rtabmap/pull/1152, see pull request description for current issues with ORB-SLAM3 integration. At least for VO (Stereo/RGB-D) mode should work out-of-the-box. For VIO, the crashes seem...

Fixed by https://github.com/introlab/rtabmap/commit/f1cd819673804e0c5beaad1f5b316b12c4dcf140

If you are on ROS2, it is possible to use nav2. There is an example here with a rgb-d camera (if you have a zed camera, you would have to...