matlabbe

I tested the official generated binaries for arm/sonoma and it works as expected, thx!

> Is this because of a poor dead reckoning from ARkit? Yes, we use directly ARKit odometry without any refinement on RTAB-Map side (we just do loop closures). If the...

We have some [3rd party odometry approaches](https://github.com/introlab/rtabmap/tree/master/corelib/src/odometry) that have been integrated in rtabmap, though some of them are not maintained anymore (original repo) making difficult for us to support over...

I added a new parameter to select this approach: set `Rtabmap/VirtualPlaceLikelihoodRatio=1` to use approach of this MR. ``` Param: Rtabmap/VirtualPlaceLikelihoodRatio = "0" [Likelihood ratio for virtual place (for no loop...

One problem I can see is the map could drift over time. However, if we don't care too much about global position, that could be interesting to try. Currently, removing...

I am not sure if the library itself should handle the possibility of DoS attacks (or any other attacks), I would expect the messaging library/provider (here ros2) to do it...

> when such error messages are received, we could simply issue a Warning to ensure that users are aware that erroneous scan messages have occurred. At the same time, for...

Can you share the database? Also, as computation time for `RTAB-Map=0.4313s`, your detection rate is too fast (5 hz), I'll suggest to keep it to default 1 hz.

Can you show the tf tree? (`ros2 run tf2_tools view_frames.py`l Is it look like `world->odom->base_link->head_link->camera_link->camera_depth_optical_frame`? In which frames `libgazebo_ros_p3d` is actually publishing odom topic and odom TF?

You may debug if topics are correctly published with `ros2 topic hz`. For example, I think `/rtabmap/rgbd_image` may not be published because depthai doesn't publish rgb and depth topics with...