matlabbe

You should have warnings in rtabmap terminal if topics can be synchronized but don't have the right format or if there is a TF issue. If you have warnings about...

You can use `/rs_d435i/color/camera_info` if `/filter/rs_d435i/color/image_raw` has still the same resolution (and that you didn't change the scale of the image, i.e., kept same calibration).

Another thing I just noticed, you should copy the old header in your new published topic header. ``` sharpened_img.header = data.header ```

Can you share a rosbag of the following topics? ``` rosbag record /tf /tf_static \ /input/sensor/rpi_camera_v3_wide_384_216/image_rect_color \ /input/sensor/rpi_camera_v3_wide_384_216/camera_info \ /input/sensor/rpi_camera_v3_wide_384_216/depth_image_0_gen_rect \ /input/sensor/imu/data_processed \ /royale_cam_left_lidar/point_cloud_0 ``` Here are some stuff that...

Can you have an IR stream from the depth camera? If so, you may be do something like this: http://wiki.ros.org/openni_launch/Tutorials/ExtrinsicCalibrationExternal It seems there is also a module in opencv to...

Do you delete the database on each restart (argument `--delete_db_on_start`)? It looks like it is relocalizing on a previous session. Otherwise, map -> odom would change on loop closure detection....

For Third Party datasets dead links, we cannot do much. It seems the [ENSTA](http://cogrob.ensta-paristech.fr/loopclosure.html) page is dead, you may check with the original author. Links for other datasets seem fine...

The arm release has been built under M1 Mac Sonoma. It may have a backward MacOS compatibility issue. You can try to launch the Intel version on your M1 as...

You can add a constraint with `rtabmap-databaseViewer` -> Constraints View. If the constraint cannot be computed automatically, you will be asked if you want to add it manually. When closing...

If the pose is null, it means ARKit cannot output a pose, so the mapping node will likely ignore updating and the rtabmapEvents will be empty till the pose can...