matlabbe
matlabbe
Workaround is to set `Mem/RehearsalSimilarity=1`. That makes memory management not compatible with `GTSAM/Incremental`. The cleanest way to solve this issue would be to be able to remove links from external...
I implemented the second suggestion. You could try this tag [0.21.4.1](https://github.com/introlab/rtabmap/releases/tag/0.21.4.1) on your [pull request](https://github.com/microsoft/vcpkg/pull/37650).
You can do: ``` rtabmap-reprocess "map1.db;map2.db" combined_maps.db ```
No, you don't need to, but the robot should traverse at some point same locations than in previous session, ideally with same point of view so that a loop closure...
If I get my hands on one for sure!
You may create 2 databases, one for each floor. You can either kill the node and reload with other database, or call service `rtabmap/load_database`. If you want to keep both...
In your example, I assume that you already created two databases, one for each floor. If you know on which floor the robot should be, you can indeed call `rtabmap/load_database`...
If you call `rtabmap/load_database`, it would change the path of the database used by rtabmap node. For the pose, the robot may jump to latest location saved in that database....
Can you show output of cmake and the output of `make VERBOSE=1`?
What is the rostopic hz output for: ``` rostopic hz \ /filter/rs_l515/color/image_raw \ /filter/rs_l515/aligned_depth_to_color/image_raw \ /filter/rs_l515/color/camera_info \ ```