matlabbe

Is the `imu_topic` still published? otherwise the timestamps may be very off than the ones used by the velodyne.

Hi, The `frame_id` of `rtabmap` should be set to `child_frame_id` set in vins odometry topic (`/vins_estimator/odometry`). Which frames VINS is published? Can you show the tf tree? `rosrun tf2_tools view_frames.py`

One issue sometimes with other packages is that they provide odometry in camera optical frame (x->left, y->down, z->forward) instead of ros standard (x->forward, y->left, z->up). Even before trying rtabmap, you...

With the ros binaries, did you `source /opt/ros/noetic/setup.bash` before launching? On jetson, because they often install a different OpenCV version than the one ros is using, either use rtabmap ros...

Based on https://github.com/introlab/rtabmap_ros/tree/master/docker ``` docker pull introlab3it/rtabmap_ros:noetic-latest ``` Launch rtabmap node: ``` mkdir ~/.ros # make sure ~/.ros exists docker run -it --rm \ --user $UID \ -e ROS_HOME=/tmp/.ros \...

You may install realsense ros package.

You would have to change `rgbd_cameras` to 1, and add `` in odometry, rtabmap and rtabmap_viz nodes. You may remove `******Decimation` parameters. For the `frame_id`, I don't know how close...

You can do: ``` rosrun tf2_tools view_frames.py ``` to export the [Tf tree](http://wiki.ros.org/tf). If there are no frames, then there is an issue with the robot bringup. A robot without...

Well, it seems you kept correctly the `rgbd_sync` outputting the `/camera_face/rgbd_image` that can be connected to other rtabmap nodes with the other remap I posted previously. Form the log, the...

The base frame of the robot would be `base` based on the tf tree. The tree looks strange in rviz, as the camera_face looks way off the robot: ![Screenshot from...