matlabbe

I tested 32 bits version from a [fresh raspberry pi image](https://www.raspberrypi.com/documentation/computers/getting-started.html#install-an-operating-system) and it should work. Here the steps I did: * Setup docker: ```bash curl -sSL https://get.docker.com | sh sudo...

Are both camera streams at the same frame rate? Should they be 30 Hz or 15Hz? Probably your camera driver is not publishing all camera streams with exactly the same...

You have "Cloud from scan" checked in MapCloud plugin, to see the camera cloud, uncheck that.

I am not aware of your full config, but there could be a possibility that rtabmap node is not subscribed to image data. You can also use rtabmap-databaseViewer, to verify...

With [MapData](http://docs.ros.org/en/noetic/api/rtabmap_msgs/html/msg/MapData.html) msg, if `nodes` has image field `left` set in their [SensorData](http://docs.ros.org/en/noetic/api/rtabmap_msgs/html/msg/Node.html), then yes images are there: http://docs.ros.org/en/noetic/api/rtabmap_msgs/html/msg/SensorData.html

I think the optical flow odometry and steering angle is wrongly set in their respective odometry topic. Is it really giving pose.x and pose.y globally or relative to base frame?...

By globally, I meant in reference to same fixed frame (e.g., odom). Independently of the orientation of the robot, x-y values refer to same fixed frame. For example, if robot...

It should be `base_link` frame (ideally same frame than rgbd_odometry is using). I would assume vx is in base frame, you cannot just do `abs_x += dx`, because `abs_x` should...

Can the camera sees the top of the table? You may try creating the occupancy grid from the camera: `Grid/Sensor=1`

If the green line is the global plan, it is normal that the robot doesn't follow it exactly. You may vheck the output of the local planner, I guess this...