matlabbe

Don't set `Rtabmap/DetectionRate` to 30 (default is 1 Hz!). That rate is for map updates, not visual odometry. Unless your robot is super fast and you don't want holes in...

You could use smaller resolution images with higher framerate. Don't use `clip_distance` at the camera level because it can affect badly the visual odometry, you can clip the distance in...

I think I've shown the rqt_reconfigure approach because that parameter was not exposed outside of `rs_camera.launch`. You could modify `rs_camera.launch` to add that parameter as argument, or another way would...

"localization" means only localizing in a pre-built map. The map is not updated. When localization is false, the robot does SLAM. ``` roslaunch rtabmap_launch rtabmap.launch \ rtabmap_args:="--delete_db_on_start --Grid/RangeMax 1" \...

How did you generate the point cloud? If you use `rtabmap-export --max_range 1.5 my_map.db`, it will generate the point cloud only up to 1.5 meter range.

In RTABMap viewer, you can set a max depth to export. I would still not use `clip_distance:=6`. 

rgb8 for depth is strange, which topic are you using?

What means `colorizer`? The depth image received has rgb8 encoding, which is wrong. We expect one of `32FC1` (meters), `16UC1` (mm), `mono16`(mm) encodings for depth.

Did you enable Memory Management (`Rtabmap/TimeThr` or `Rtabmap/MemoryThr`) and/or `Mem/ReduceGraph`? Can you share that database?

Some events that can cause odometry lost: https://github.com/introlab/rtabmap/wiki/Kinect-mapping#lostodometry What is the computation time of odometry when it is tracking? You may also want to do visual odometry with IR cameras...