matlabbe

Localization mode still continue to do global localization even if you set an initial pose. For example, we can roughly set the location of the robot with 2D Pose estimate...

Question 1: The issue you are describing is exactly the same stated in this [paper](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf) Section 4.4.1. The rtabmap way to deal with this situation is to use `guess_frame_id` with...

These are the supported platforms: http://wiki.ros.org/noetic/Installation It seems melodic doesn't have released Debian packages: http://repositories.ros.org/status_page/melodic_default.html?q=rtabmap Here on noetic: http://repositories.ros.org/status_page/noetic_default.html?q=rtabmap You may have to [build from source](https://github.com/introlab/rtabmap_ros#build-from-source).

So this works: `rosrun rtabmap_ros rgbd_sync` but not this? `rosrun nodelet nodelet standalone rtabmap_ros/rgbd_sync` The first one is a wrapper of the nodelet, which is strange that one works and...

Which command did you use? Rgbd_sync is now in rtabmap_sync package, not rtabmap_ros.

I would try to rebuild rtabmap from source when you build rtabmap_ros from source. Uninstall ``` sudo apt remove ros-noetic-rtabmap ``` then follow step 2 from https://github.com/introlab/rtabmap_ros#build-from-source

See that comment if it could help https://github.com/introlab/rtabmap_ros/issues/737#issuecomment-1407157456

Did you play it with "rosbag play --clock..."?

That's on purpose, particularly for stereo, it is rarely a good idea to approximate sync in rtabmap node stereo topics with lidar data. You should use `subscribe_rgbd:=true` with `subscribe_scan_cloud:=true`, then...

Can you verify that your bag has really a timestamp channel? Otherwise, you can disable deskewing in that [example](https://github.com/introlab/rtabmap_ros/blob/master/rtabmap_examples/launch/test_velodyne.launch).