matlabbe

I would suggest to record camera data directly into a ros bag, because you need the `camera_info`, `/tf`, `/tf_static` topics. You are setting Identity TF between all sensors, which looks...

Try showing the tf tree instead: ``` ros2 run tf2_tools view_frames ``` I suspect rtabmap not publising `map` -> `x500_mono_cam_down_0/odom` but maybe `map` -> `odom`. I see `/odom` topic is...

`map` and `odom` frames would be together until a loop closure is detected.

To debug this, start `rtabmap` in gdb: ``` sudo apt install gdb gdb --args rtabmap # type "run" ``` You can also set Logger level to Debug in Preferences->Logging. Then...

I think you are referring to Graph View panel in rtabmap_viz, not RVIZ. The occupancy grid should be the same than the `/map`,`/grid_map` topic published by rtabmap node. Rviz should...

Can you show a screenshot comparing each other? I am not sure to understand the differences as they should be identical.

I think iOS doesn't allow Apps to take [more than 5GB of RAM](https://appleinsider.com/articles/21/06/25/apple-offers-developers-workaround-for-ram-app-limits-in-ios-15-ipados-15). Depending at which step of assembling is, it may do a temporary copy of that 3GB, increasing...

Here different options to use less memory during assembling. If you go under Assembling Settings: 1. you can increase Voxel Size 2. you can set "Reconstruction Depth" to 8 or...

Can you record/share a rosbag? ``` ros2 bag record /tf /tf_static /oak/rgb/image_rect /oak/rgb/camera_info /oak/stereo/image_raw ```

Related issues: https://github.com/introlab/rtabmap/issues/575 https://github.com/introlab/rtabmap/issues/463