matlabbe

There are some issues on jetson with native `rtabmap_viz`. I would not launch `rtabmap_viz` and use RVIZ with `rtabmap_rviz_plugins` instead (or even launch `rtabmap_viz` on remote computer instead).

Did you use the "color D435i" or "IR D435i" example launch files? With color, I did have an example with current realsense driver with not valid depth image, so needed...

So all launch examples are working, can you give the launch / commands that are not working?

Cannot reproduce the problem on my computer, would have to try on jetson later.

Install `ros-humble-fastcdr`, not sure why it failed as rtabmap doesn't explicitly depends on that package. ``` sudo apt install ros-humble-fastcdr ``` Related issue: https://github.com/ros2/ros2/issues/223

Looks like more a ros2 issue. Make sure to source setup.bash before colcon: ``` source /opt/ros/humble/setup.bash ```

This header should be generated by ros2: https://github.com/introlab/rtabmap_ros/blob/49316bff009e84d13dbcc284c00f32be46e686bb/rtabmap_msgs/CMakeLists.txt#L28 What is generated in this ros2 workspace install directory: ``` ~/ros2_ws/install/rtabmap_msgs/include/rtabmap_msgs/msg$ ls camera_model.h goal.hpp landmark_detections.hpp odom_info.hpp rgbd_images.hpp camera_model.hpp gps.h link.h path.h rosidl_generator_c__visibility_control.h...

You have `rtabmap_msgs` folder, check if the header `landmark_detection.hpp` under the path like my previous [post](https://github.com/introlab/rtabmap_ros/issues/989#issuecomment-1612426248).

Make sure you uninstall any rtabmap_msgs binaries: ``` sudo apt remove ros-$ROS_DISTRO-rtabmap-msgs -y ``` I have the same error if I don't uninstall the binaries one. Example with docker's rtabmap_ros:humble-latest:...

You have to change `Odometry/Strategy` to 1 too. Other parameters may need to be changed too, refer to Table 2 (F2F) related parameters in this [paper](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf).