matlabbe

VO would initialize with original IMU orientation and TF between imu and camera topics. Just tried on my side and indeed there is a 90 deg yaw. It seems coming...

The issue is not on rtabmap side, but the imu filter that is initialized in the imu frame, which has 90 deg yaw on it. In rtabmap standalone, we added...

With https://github.com/introlab/rtabmap_ros/pull/1282, we can now do: ``` ros2 run rtabmap_odom rgbd_odometry --ros-args \ -p rgb_transport:=compressed \ -p depth_transport:=compressedDepth \ -r rgb/image:=camera/rgb/image_rect \ -r depth/image:=camera/depth/image_raw \ -r rgb/camera_info:=camera/rgb/camera_info .... rgbd_odometry subscribed...

It is now: https://github.com/introlab/rtabmap_ros/pull/1348 thanks to bring this up again.

You have to change `Kp/DetectorStrategy` to same value than `Vis/FeatureType`. Also, if you are using opencv binaries as dependency, you may not have access to all types of features, in...

Humm, can you do a `sudo apt update && sudo apt upgrade` ? Also if you built rtabmap_ros from source, clean your catkin or ros2 ws and rebuild everything. There...

Doublecheck if library containing nav_core::BaseGlobalPlanner is installed.

`ros-noetic-global-planner` should have worked (as it declares that plugin [here](https://github.com/ros-planning/navigation/blob/9ad644198e132d0e950579a3bc72c29da46e60b0/global_planner/bgp_plugin.xml#L2)). You could try this planner instead (which seems to be installed in your error msg): ``` ```

What is the topic name of the lidar point cloud topic? For rtabmap node, just set `subscribe_scan_cloud` to true (remove `subscribe_scan`), then you will need to remap scan_cloud to the...

Based on the TF warning, `cameracolor` frame doesn't exist, which is indeed true looking at your tf tree. That frame is taken from the camera topics, mostly `/camera/camera/color/image_raw`. Check its...