matlabbe

We cannot see anything in that screenshot, copy/paste the text instead after you do `bt` (backtrace).

I guess the closest experience of your application that I tried is this one https://www.youtube.com/watch?v=G-5jesjNfLc (this contains some strong exposure time variations) For your case above, I would tune `Odom/KeyFrameThr`...

Hi, 1-2-3-4: The default ORB features may not be appropriate for loop closure detection in that environment. Also with the change of altitude, it can change slightly the look of...

1. I just created one, see https://github.com/introlab/rtabmap_ros/blob/master/docker/noetic/superpoint/Dockerfile 2. RAM full, too many point clouds to render... for very large maps, I recommend to downsample the point clouds in Preferences->3D Rendering->Decimation...

The command I used (pytorch was not correctly setup on that computer, so I removed python related stuff (superglue)): ``` roslaunch rtabmap_launch rtabmap.launch \ rtabmap_viz:=true \ rtabmap_args:="--delete_db_on_start \ --SuperPoint/ModelPath ~/superpoint_v1.pt...

@zhuoyan28 see https://github.com/introlab/rtabmap_ros/issues/363#issuecomment-2017035795

Can you show (`rostopic echo ...`) the `camera_info` for the left camera and the one for the right camera?

I never played with the astra on ros2, but the input data you are feeding rtabmap with looks pretty bad: ``` The time difference between rgb and depth frames is...

You should not have to hard-code the queue size, there is a parameter called `queue_size` that can be used for that. What is the frame rate of all topics? If...

It looks like a rclcpp related issue.