matlabbe

I cannot reproduce your problem. You should not enable ground truth though, it seems there is an issue with timestamps and it makes lagging odometry node and vins diverge. ```...

MH sequences are in larger spaces, thus local bundle adjustment done in rtabmap's F2M approach could help to better estimate farther features. I don't remember how much motion blur has...

rtabmap ios doesn't do lidar odometry. Even if you bypass the check and forward lidar/image data without ARKit pose to rtabmap library, rtabmap will complain that there is no valid...

Do you have more than one OpenCV installed?

Is your main goal also doing only 3DoF SLAM? If so, I would go for option 2 `Reg/Strategy=1`. The filtering warning is that the provided scan is detected to have...

Nodes have been changed of packages in latest version. See migration guide here: http://wiki.ros.org/rtabmap_ros#rtabmap_ros.2Fnoetic_and_newer.Migration_Guide_New_Interface_Noetic.2FROS2

you make check those examples: * https://github.com/introlab/rtabmap_ros/blob/65a8faf78ef51fde49f13f98947b8f67f291a037/rtabmap_demos/launch/demo_husky.launch#L43-L47 * https://github.com/introlab/rtabmap_ros/blob/master/rtabmap_examples/launch/usyd_dataset.launch

For a quick example, see this [example](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) (look for Zed instructions) or this [example](http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping#Bring-up_example_with_Zed.2FZed-Mini.2FZed2_cameras)(stereo mode).

For standalone version, see https://github.com/introlab/rtabmap/tree/master/corelib/include/rtabmap/core/camera However, not all drivers may be available in binaries. When you open the standalone app, you can browse them and see which drivers are gray...

From where this database is coming from? It is a newer rtabmap version was used to record that database, and you are opening it with an older version.