matlabbe

Set these parameters only for rgbd_odometry node, not rtabmap node. And yes, you won't see the changes in rtabmapviz, as rtabmapviz shows parameters from rtabmap node, not rgbd_odometry. "Optical Flow...

Yes, set `subscribe_odom_info` to true for rtabmap_viz to have the optical flow result from odometry node.

You may want to open another terminal at the same time and monitor: ``` rostopic hz /camera/color/image_raw /camera/depth/image_raw /camera/color/camera_info ``` to make sure the frame rate is stable and there...

On ros2, you may have to explicitly adjust `qos` too. See example with zed camera here https://github.com/introlab/rtabmap_ros/tree/ros2#usage

Based on the rtabmap warning, you are using `approx_sync` to false, if I remember, orbbec doesn't provide exactly sync frames between the cameras. You would have to add `approx_sync:=true` in...

If you are feeding the laser scans to rtabmap node, and that `Reg/Strategy` is 1, rtabmap would be able to find proximity detection with laser scans (like shown in figure...

Default feature matching will wotrk with superpoint, you may decrease `Vis/CorNNDR` to `0.6` though. There is a typo here: ```xml ```

1. The rate at which a new node is added to graph, and thus at which rate loop closure detection is done (which was the original meaning when rtabmap was...

Do you use superpoint for `stereo_odometry`? I would use the default features for visual odometry, and use only superpoint on rtbmap node. If `/setereo_odometry` topic is super slow, like 3...

On the terminal, you should see the processing time of rtabmap. If it is way below 500 ms and you still have 2 Hz, either `Rtabmap/DetectionRate` is set to 2...