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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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OpenGV and Multi-Camera Problem #1084

Closed ericlai0323 closed 1 year ago

ericlai0323 commented 1 year ago

I am using Intel RealSense D455x2 and wheel odometry(No visual odometry) to SLAM, when I starting to let the robot moving, RTABMAP will died, can anyone help me to solve this problem? The problem is different in two version, with OpenGV and without OpenGV, without OpenGV version can do SLAM successfully but Terminal show one error, with OpenGV version will died when I starting to let the robot moving. I have comfirmed the wheel odometry value and TF is correct.

https://i.imgur.com/scgpQtH.png

Thank you!!!

Version

rtabmap: 0.21.0 rtabmap_ros: 0.21.1 Ubuntu 20.04 ROS1 Noetic

Launch File

<?xml version="1.0"?>

<launch>
<!-- Camera 60 -->
  <!-- <node pkg="tf" type="static_transform_publisher" name="base_link_to_left_camera_tf"
      args="0.0 0.17 0.6 1.57 -1.0466 0.0 /base_link /left_camera_link 100" />

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_right_camera_tf"
      args="0.0 -0.17 0.6 -1.57 -1.0466 0.0 /base_link /right_camera_link 100" /> -->

<!-- Camera 45 -->
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_left_camera_tf"
      args="0.0 0.17 0.6 1.57 -0.785 0.0 /base_link /left_camera_link 100" />

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_right_camera_tf"
      args="0.0 -0.17 0.6 -1.57 -0.785 0.0 /base_link /right_camera_link 100" />

  <!-- Choose between depth and stereo, set both to false to do only scan -->
  <arg name="stereo"                    default="false"/>
  <arg     if="$(arg stereo)" name="depth"  default="false"/>
  <arg unless="$(arg stereo)" name="depth"  default="true"/>
  <arg name="subscribe_rgb"  default="$(arg depth)"/>

  <!-- Choose visualization -->
  <arg name="rtabmap_viz"             default="false" />
  <arg name="rviz"                    default="true" />

  <!-- Localization-only mode -->
  <arg name="localization"            default="false"/>
  <arg name="initial_pose"            default=""/>             <!-- Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "RGBD/StartAtOrigin" doc -->

  <!-- sim time for convenience, if playing a rosbag -->
  <arg name="use_sim_time"            default="false"/>
  <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>

  <!-- Corresponding config files -->
  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="$(find rtabmap_launch)/launch/config/rgbd.rviz" />

  <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  <arg name="odom_frame_id"           default="wheel_odom"/>                <!-- If set, TF is used to get odometry instead of the topic -->
  <arg name="odom_frame_id_init"      default=""/>                <!-- If set, TF map->odom is published even if no odometry topic has been received yet. The frame id should match the one in the topic. -->
  <arg name="map_frame_id"            default="map"/>
  <arg name="ground_truth_frame_id"   default=""/>     <!-- e.g., "world" -->
  <arg name="ground_truth_base_frame_id" default=""/>  <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
  <arg name="namespace"               default="rtabmap"/>
  <arg name="database_path"           default="~/visual_mapfile/test.db"/>
  <arg name="queue_size"              default="10"/>
  <arg name="wait_for_transform"      default="0.2"/>
  <arg name="args"                    default="--delete_db_on_start"/>              <!-- delete_db_on_start, udebug -->
  <arg name="rtabmap_args"            default="$(arg args)"/>   <!-- deprecated, use "args" argument -->
  <arg name="gdb"                     default="false"/>         <!-- Launch nodes in gdb for debugging (apt install xterm gdb) -->
  <arg     if="$(arg gdb)" name="launch_prefix" default="xterm -e gdb -q -ex run --args"/>
  <arg unless="$(arg gdb)" name="launch_prefix" default=""/>
  <arg name="clear_params"            default="true"/>
  <arg name="output"                  default="screen"/>        <!-- Control node output (screen or log) -->
  <arg name="publish_tf_map"          default="true"/>

  <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
  <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
  <arg unless="$(arg stereo)" name="approx_sync"  default="$(arg depth)"/>
  <arg name="approx_sync_max_interval"  default="0"/> <!-- (sec) 0 means infinite interval duration (used with approx_sync=true) -->

  <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/color/image_raw" />
  <arg name="depth_topic"             default="/depth/image_rect_raw" />
  <arg name="camera_info_topic"       default="/color/camera_info" />
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />

  <!-- stereo related topics -->
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />

  <!-- Already synchronized RGB-D related topic, with rtabmap_sync/rgbd_sync nodelet -->
  <arg name="rgbd_sync"               default="true"/>         <!-- pre-sync rgb_topic, depth_topic, camera_info_topic -->
  <arg name="approx_rgbd_sync"        default="true"/>          <!-- false=exact synchronization -->
  <arg name="subscribe_rgbd"          default="$(arg rgbd_sync)"/>
  <arg name="rgbd_cameras"            default="2"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />         <!-- Deprecated, use rgbd_depth_scale instead -->
  <arg name="rgbd_depth_scale"        default="$(arg depth_scale)" />
  <arg name="rgbd_decimation"         default="1" />

  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
  <arg name="depth_image_transport"   default="compressedDepth"/>  <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->

  <arg name="gen_cloud"               default="false"/> <!-- only works with depth image and if not subscribing to scan_cloud topic-->
  <arg name="gen_cloud_decimation"    default="4"/>
  <arg name="gen_cloud_voxel"         default="0.05"/>

  <arg name="subscribe_scan"          default="false"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="$(arg gen_cloud)"/>
  <arg name="scan_cloud_topic"        default="/depth/image_rect_raw"/>
  <arg name="subscribe_scan_descriptor" default="false"/>
  <arg name="scan_descriptor_topic"   default="/scan_descriptor"/>
  <arg name="scan_deskewing"          default="false"/>
  <arg name="scan_deskewing_slerp"    default="false"/>
  <arg name="scan_cloud_max_points"   default="0"/>
  <arg name="scan_cloud_filtered"     default="$(arg scan_deskewing)"/> <!-- use filtered cloud from icp_odometry for mapping -->
  <arg name="gen_scan"                default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->

  <arg name="gen_depth"                  default="false" /> <!-- Generate depth image from scan_cloud -->
  <arg name="gen_depth_decimation"       default="1" />
  <arg name="gen_depth_fill_holes_size"  default="0" />
  <arg name="gen_depth_fill_iterations"  default="1" />
  <arg name="gen_depth_fill_holes_error" default="0.1" />

  <arg name="visual_odometry"          default="false"/>          <!-- Launch rtabmap visual odometry node -->
  <arg name="icp_odometry"             default="false"/>         <!-- Launch rtabmap icp odometry node -->
  <arg name="odom_topic"               default="wheel_odom"/>          <!-- Odometry topic name -->
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
  <arg name="publish_tf_odom"          default="false"/>
  <arg name="odom_tf_angular_variance" default="0.001"/>         <!-- If TF is used to get odometry, this is the default angular variance -->
  <arg name="odom_tf_linear_variance"  default="0.001"/>         <!-- If TF is used to get odometry, this is the default linear variance -->
  <arg name="odom_args"                default=""/>              <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
  <arg name="odom_sensor_sync"         default="false"/>
  <arg name="odom_guess_frame_id"        default=""/>
  <arg name="odom_guess_min_translation" default="0"/>
  <arg name="odom_guess_min_rotation"    default="0"/>
  <arg name="odom_max_rate"            default="0"/>
  <arg name="odom_expected_rate"       default="0"/>
  <arg name="imu_topic"                default="/imu/data"/>          <!-- only used with VIO approaches -->
  <arg name="wait_imu_to_init"         default="false"/>
  <arg name="use_odom_features"        default="false"/>

  <arg name="scan_cloud_assembling"              default="false"/>
  <arg name="scan_cloud_assembling_time"         default="1"/>      <!-- max_clouds and time should not be set at the same time -->
  <arg name="scan_cloud_assembling_max_clouds"   default="0"/>      <!-- max_clouds and time should not be set at the same time -->
  <arg name="scan_cloud_assembling_fixed_frame"  default=""/>
  <arg name="scan_cloud_assembling_voxel_size"   default="0.05"/>
  <arg name="scan_cloud_assembling_range_min"    default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_range_max"    default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_noise_radius"   default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_noise_min_neighbors"   default="5"/>

  <arg name="subscribe_user_data"      default="false"/>             <!-- user data synchronized subscription -->
  <arg name="user_data_topic"          default="/user_data"/>
  <arg name="user_data_async_topic"    default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->

  <arg name="gps_topic"                default="/gps/fix" />         <!-- gps async subscription -->

  <arg name="tag_topic"                default="/tag_detections" />  <!-- apriltags async subscription -->
  <arg name="tag_linear_variance"      default="0.0001" />
  <arg name="tag_angular_variance"     default="9999" />             <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
  <arg name="fiducial_topic"           default="/fiducial_transforms" />  <!-- aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covriance -->

  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>
  <arg if="$(arg rgbd_sync)"      name="rgbd_topic_relay"          default="$(arg rgbd_topic)"/>
  <arg unless="$(arg rgbd_sync)"  name="rgbd_topic_relay"          default="$(arg rgbd_topic)_relay"/>

  <!-- Nodes -->
  <group ns="$(arg namespace)">

    <!-- relays -->
    <group if="$(arg depth)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />

        <group ns="left_camera">
          <node pkg="nodelet" type="nodelet" name="rgbd_sync1" args="standalone rtabmap_sync/rgbd_sync" clear_params="$(arg clear_params)" output="$(arg output)">
            <remap from="rgb/image"       to="/left_camera/$(arg rgb_topic_relay)"/>
            <remap from="depth/image"     to="/left_camera/$(arg depth_topic_relay)"/>
            <remap from="rgb/camera_info" to="/left_camera/$(arg camera_info_topic)"/>
            <remap from="rgbd_image"      to="/left_camera/$(arg rgbd_topic_relay)"/>
            <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
            <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
            <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
            <param name="depth_scale"     type="double" value="$(arg rgbd_depth_scale)"/>
            <param name="decimation"     type="double" value="$(arg rgbd_decimation)"/>
          </node>
        </group>

        <group ns="right_camera">
          <node pkg="nodelet" type="nodelet" name="rgbd_sync2" args="standalone rtabmap_sync/rgbd_sync" clear_params="$(arg clear_params)" output="$(arg output)">
            <remap from="rgb/image"       to="/right_camera/$(arg rgb_topic_relay)"/>
            <remap from="depth/image"     to="/right_camera/$(arg depth_topic_relay)"/>
            <remap from="rgb/camera_info" to="/right_camera/$(arg camera_info_topic)"/>
            <remap from="rgbd_image"      to="/right_camera/$(arg rgbd_topic_relay)"/>
            <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
            <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
            <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
            <param name="depth_scale"     type="double" value="$(arg rgbd_depth_scale)"/>
            <param name="decimation"     type="double" value="$(arg rgbd_decimation)"/>
          </node>
        </group>       
      </group>
    </group>
    <group if="$(arg stereo)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
        <node pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_sync/stereo_sync" clear_params="$(arg clear_params)" output="$(arg output)">
          <remap from="left/image_rect"   to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"  to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
          <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
          <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
        </node>
      </group>
    </group>

    <group unless="$(arg rgbd_sync)">
       <group if="$(arg subscribe_rgbd)">
         <node name="republish_rgbd_image"  type="rgbd_relay" pkg="rtabmap_util" clear_params="$(arg clear_params)">
           <remap     if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/>
           <remap     if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/>
           <remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/>
           <param if="$(arg compressed)" name="uncompress" value="true"/>
         </node>
      </group>
    </group>

    <node if="$(arg gen_cloud)" pkg="nodelet" type="nodelet" name="gen_cloud_from_depth" args="standalone rtabmap_util/point_cloud_xyz" clear_params="$(arg clear_params)" output="$(arg output)">
      <remap from="depth/image"       to="$(arg depth_topic_relay)"/>
      <remap from="depth/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="cloud"             to="$(arg scan_cloud_topic)" />

      <param name="decimation"  type="double" value="$(arg gen_cloud_decimation)"/>
      <param name="voxel_size"  type="double" value="$(arg gen_cloud_voxel)"/>
      <param name="approx_sync" type="bool"   value="false"/>
      <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
    </node>

    <!-- Visual odometry -->
    <group unless="$(arg icp_odometry)">
      <group if="$(arg visual_odometry)">

        <!-- RGB-D Odometry -->
        <node unless="$(arg stereo)" pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <remap from="odom"            to="$(arg odom_topic)"/>
          <remap from="imu"             to="$(arg imu_topic)"/>

          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="approx_sync_max_interval"    type="double" value="$(arg approx_sync_max_interval)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
          <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
          <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
          <param name="keep_color"                  type="bool"   value="$(arg use_odom_features)"/>
        </node>

        <!-- Stereo Odometry -->
        <node if="$(arg stereo)" pkg="rtabmap_odom" type="stereo_odometry" name="stereo_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"             to="$(arg rgbd_topic_relay)"/>
          <remap from="odom"                   to="$(arg odom_topic)"/>
          <remap from="imu"                    to="$(arg imu_topic)"/>

          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="approx_sync_max_interval"    type="double" value="$(arg approx_sync_max_interval)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
          <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
          <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
          <param name="keep_color"                  type="bool"   value="$(arg use_odom_features)"/>
        </node>
      </group>
    </group>

    <!-- ICP Odometry -->
    <node if="$(arg icp_odometry)" pkg="rtabmap_odom" type="icp_odometry" name="icp_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      <remap from="imu"                    to="$(arg imu_topic)"/>

      <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
      <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
      <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
      <param name="config_path"                 type="string" value="$(arg cfg)"/>
      <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
      <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
      <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
      <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
      <param name="scan_cloud_max_points"       type="int"    value="$(arg scan_cloud_max_points)"/>
      <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
      <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
      <param name="deskewing"                   type="bool"   value="$(arg scan_deskewing)"/>
      <param name="deskewing_slerp"             type="bool"   value="$(arg scan_deskewing_slerp)"/>
    </node>

    <node if="$(eval not icp_odometry and scan_deskewing and subscribe_scan_cloud)" pkg="rtabmap_util" type="lidar_deskewing" name="lidar_deskewing" clear_params="$(arg clear_params)" output="$(arg output)">
      <param name="wait_for_transform" value="$(arg wait_for_transform)"/>
      <param     if="$(arg visual_odometry)" name="fixed_frame_id" value="$(arg vo_frame_id)"/>
      <param unless="$(arg visual_odometry)" name="fixed_frame_id" value="$(arg odom_frame_id)"/>
      <param name="slerp" value="$(arg scan_deskewing_slerp)"/>
      <remap from="input_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="$(arg scan_cloud_topic)/deskewed" to="odom_filtered_input_scan"/>
    </node>

    <node if="$(arg scan_cloud_assembling)" pkg="rtabmap_util" type="point_cloud_assembler" name="point_cloud_assembler" clear_params="$(arg clear_params)" output="$(arg output)">
      <remap     if="$(arg scan_cloud_filtered)" from="cloud" to="odom_filtered_input_scan"/>
      <remap unless="$(arg scan_cloud_filtered)" from="cloud" to="$(arg scan_cloud_topic)"/>

      <remap from="odom"            to="$(arg odom_topic)"/>
      <param name="assembling_time" type="double" value="$(arg scan_cloud_assembling_time)"/>
      <param name="max_clouds"      type="int"    value="$(arg scan_cloud_assembling_max_clouds)"/>
      <param name="fixed_frame_id"  type="string" value="$(arg scan_cloud_assembling_fixed_frame)"/>
      <param name="voxel_size"      type="double" value="$(arg scan_cloud_assembling_voxel_size)"/>
      <param name="range_min"       type="double" value="$(arg scan_cloud_assembling_range_min)"/>
      <param name="range_max"       type="double" value="$(arg scan_cloud_assembling_range_max)"/>
      <param name="noise_radius"        type="double" value="$(arg scan_cloud_assembling_noise_radius)"/>
      <param name="noise_min_neighbors" type="int"    value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
    </node>

    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="$(arg depth)"/>
      <param name="subscribe_rgb"        type="bool"   value="$(arg subscribe_rgb)"/>
      <param name="subscribe_rgbd"       type="bool"   value="$(eval subscribe_rgbd or use_odom_features)"/>
      <param name="rgbd_cameras"         type="int"    value="$(arg rgbd_cameras)"/>
      <remap from="rgbd_image0"       to="/left_camera/rgbd_image"/>
      <remap from="rgbd_image1"       to="/right_camera/rgbd_image"/>
      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
      <param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
      <param name="subscribe_user_data"  type="bool"   value="$(arg subscribe_user_data)"/>
      <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
      <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
      <param name="map_frame_id"         type="string" value="$(arg map_frame_id)"/>
      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
      <param name="odom_frame_id_init"   type="string" value="$(arg odom_frame_id_init)"/>
      <param name="publish_tf"           type="bool"   value="$(arg publish_tf_map)"/>
      <param name="initial_pose"         type="string" value="$(arg initial_pose)"/>
      <param name="gen_scan"             type="bool"   value="$(arg gen_scan)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
      <param name="odom_tf_linear_variance"  type="double" value="$(arg odom_tf_linear_variance)"/>
      <param name="odom_sensor_sync"         type="bool"   value="$(arg odom_sensor_sync)"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="database_path"        type="string" value="$(arg database_path)"/>
      <param name="approx_sync"          type="bool"   value="$(eval approx_sync and not use_odom_features)"/>
      <param name="config_path"          type="string" value="$(arg cfg)"/>
      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
      <param if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
      <param name="landmark_linear_variance"   type="double" value="$(arg tag_linear_variance)"/>
      <param name="landmark_angular_variance"  type="double" value="$(arg tag_angular_variance)"/>
      <param name="gen_depth"                  type="bool"   value="$(arg gen_depth)" />
      <param name="gen_depth_decimation"       type="int"    value="$(arg gen_depth_decimation)" />
      <param name="gen_depth_fill_holes_size"  type="int"    value="$(arg gen_depth_fill_holes_size)" />
      <param name="gen_depth_fill_iterations"  type="int"    value="$(arg gen_depth_fill_iterations)" />
      <param name="gen_depth_fill_holes_error" type="double" value="$(arg gen_depth_fill_holes_error)" />

      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>

      <remap     if="$(arg use_odom_features)" from="rgbd_image" to="odom_rgbd_image"/>
      <remap unless="$(arg use_odom_features)" from="rgbd_image" to="$(arg rgbd_topic_relay)"/>

      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>

      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap if="$(eval scan_cloud_assembling)" from="scan_cloud" to="assembled_cloud"/>
      <remap if="$(eval scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="odom_filtered_input_scan"/>
      <remap if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="scan_descriptor"        to="$(arg scan_descriptor_topic)"/>
      <remap from="user_data"              to="$(arg user_data_topic)"/>
      <remap from="user_data_async"        to="$(arg user_data_async_topic)"/>
      <remap from="gps/fix"                to="$(arg gps_topic)"/>
      <remap from="tag_detections"         to="$(arg tag_topic)"/>
      <remap from="fiducial_transforms"    to="$(arg fiducial_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      <remap from="imu"                    to="$(arg imu_topic)"/>

      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>

      <!-- RTAB-Map Output -->
      <!--remap from="grid_map" to="/projected_map"/-->
      <remap from="grid_map" to="/map"/>

      <param name="Grid/3D"                            type="bool" value="false"/> 
      <param name="Grid/Sensor"                        type="string" value="1"/>
      <!-- <param name="Grid/FromDepth"                     type="bool"   value="false"/>  -->
      <param name="Grid/MaxObstacleHeight"             type="double" value="3.5"/>

      <param name="Grid/MaxGroundHeight"               type="double" value="3.0"/>
      <param name="Grid/MinGroundHeight"               type="double" value="2.0"/>

      <param name="Grid/RangeMax"                      type="double" value="5.0"/>
      <param name="Grid/RangeMin"                      type="double" value="0.3"/>
      <param name="Grid/FootprintHeight"               type="string" value="3.0"/>  <!--"Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set."-->
      <param name="Grid/FootprintLength"               type="string" value="0.5"/>  <!--"Footprint length used to filter points over the footprint of the robot."-->
      <param name="Grid/FootprintWidth"                type="string" value="0.5"/>  <!--"Footprint width used to filter points over the footprint of the robot. Footprint length should be set."-->

      <param name="GridGlobal/FootprintRadius"         type="string" value="0.01"/>
      <param name="RGBD/ProximityPathMaxNeighbors"     type="string" value="0"/>
      <param name="RGBD/NeighborLinkRefining"          type="string" value="true"/>
      <param name="RGBD/ProximityBySpace"              type="string" value="true"/>
      <param name="RGBD/AngularUpdate"                 type="string" value="0.01"/>
      <param name="RGBD/LinearUpdate"                  type="string" value="0.01"/> <!--"Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated."-->

      <param name="RGBD/CreateOccupancyGrid"           type="string" value="true"/>

      <param name="Vis/EstimationType"                 type="int" value="1"/>

      <!-- Rate (Hz) at which new nodes are added to map -->
      <param name="Rtabmap/DetectionRate" type="string" value="1"/> 

      <!-- 2D SLAM -->
      <param name="Reg/Force3DoF" type="bool" value="true"/>
      <!-- <param name="Optimizer/Slam2D" value="true" />  -->

      <!--param name="cloud_noise_filtering_radius" value="0.05"/>
      <param name="cloud_noise_filtering_min_neighbors" value="2"/--> 

      <!-- Loop Closure Constraint -->
      <!-- 0=Visual, 1=ICP (1 requires scan)-->
      <param name="Reg/Strategy" type="string" value="0"/>

      <!-- Loop Closure Detection -->
      <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE-->
      <param name="Kp/DetectorStrategy"      type="int" value="4"/><!--0-->
      <param name="Vis/FeatureType"          type="int" value="4"/>

      <!-- Maximum visual words per image (bag-of-words) -->
      <param name="Kp/MaxFeatures" type="double" value="300"/>  

      <!-- Used to extract more or less SURF features -->
      <!--param name="SURF/HessianThreshold" type="string" value="100"/-->
      <!-- Minimum visual inliers to accept loop closure -->
      <param name="Vis/MinInliers" type="double" value="10"/> 
      <!-- Set to false to avoid saving data when robot is not moving -->
      <param name="Mem/NotLinkedNodesKept" type="bool" value="false"/>
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="bool" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="bool" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>

    </node>

    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(arg gui_cfg)" clear_params="$(arg clear_params)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="$(arg depth)"/>
      <param name="subscribe_rgb"        type="bool"   value="$(arg subscribe_rgb)"/>
      <param name="subscribe_rgbd"       type="bool"   value="$(eval subscribe_rgbd or use_odom_features)"/>
      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
      <param unless="$(arg icp_odometry)" name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param     if="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool"   value="$(eval subscribe_scan or subscribe_scan_cloud)"/>
      <param unless="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
      <param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
      <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
      <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
      <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
      <param name="queue_size"           type="int"    value="$(arg queue_size)"/>
      <param name="approx_sync"          type="bool"   value="$(eval approx_sync and not use_odom_features)"/>

      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>

      <remap from="rgbd_image0"       to="/left_camera/rgbd_image"/>
      <remap from="rgbd_image1"       to="/right_camera/rgbd_image"/>

      <remap     if="$(arg use_odom_features)" from="rgbd_image" to="odom_rgbd_image"/>
      <remap unless="$(arg use_odom_features)" from="rgbd_image" to="$(arg rgbd_topic_relay)"/>

      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>

      <remap unless="$(arg icp_odometry)" from="scan" to="$(arg scan_topic)"/>
      <remap     if="$(eval icp_odometry or scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
      <remap unless="$(eval icp_odometry or scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="scan_descriptor"        to="$(arg scan_descriptor_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
    </node>

  </group>

  <!-- Visualization RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb" clear_params="$(arg clear_params)" output="$(arg output)">
    <remap if="$(arg stereo)" from="left/image"        to="$(arg left_image_topic_relay)"/>
    <remap if="$(arg stereo)" from="right/image"       to="$(arg right_image_topic_relay)"/>
    <remap if="$(arg stereo)" from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
    <remap if="$(arg stereo)" from="right/camera_info" to="$(arg right_camera_info_topic)"/>
    <remap unless="$(arg subscribe_rgbd)" from="rgb/image"         to="$(arg rgb_topic_relay)"/>
    <remap unless="$(arg subscribe_rgbd)" from="depth/image"       to="$(arg depth_topic_relay)"/>
    <remap unless="$(arg subscribe_rgbd)" from="rgb/camera_info"   to="$(arg camera_info_topic)"/>
    <remap from="rgbd_image"        to="$(arg rgbd_topic_relay)"/>
    <remap from="cloud"             to="voxel_cloud" />

    <param name="decimation"  type="double" value="4"/>
    <param name="voxel_size"  type="double" value="0.0"/>
    <param name="approx_sync" type="bool"   value="$(arg approx_sync)"/>
    <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
  </node>

</launch>

Without OpenGV

[ INFO] [1688471927.630559469]: rtabmap 0.21.0 started...
[ WARN] [1688471927.906470238]: Graph has changed! The whole cloud is regenerated.
[ INFO] [1688471927.907107737]: Assembled 0 obstacle and 1 ground clouds (8 points, 0.001039s)
[ INFO] [1688471927.918954455]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0048s, RTAB-Map=0.0456s, Maps update=0.0114s pub=0.0129s (local map=1, WM=1)
[ INFO] [1688471928.894764354]: Assembled 0 obstacle and 0 ground clouds (8 points, 0.000040s)
[ INFO] [1688471928.896606460]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0028s, RTAB-Map=0.0511s, Maps update=0.0007s pub=0.0019s (local map=1, WM=1)
[ INFO] [1688471929.957988147]: Assembled 0 obstacle and 0 ground clouds (8 points, 0.000007s)
[ INFO] [1688471929.959032291]: rtabmap (3): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0484s, Maps update=0.0001s pub=0.0011s (local map=1, WM=1)
[ INFO] [1688471930.978041984]: Assembled 0 obstacle and 0 ground clouds (8 points, 0.000010s)
[ INFO] [1688471930.979837212]: rtabmap (4): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0546s, Maps update=0.0002s pub=0.0018s (local map=1, WM=1)
[ERROR] (2023-07-04 19:58:51.989) RegistrationVis.cpp:1528::computeTransformationImpl() Multi-camera 2D-3D PnP registration is only available if rtabmap is built with OpenGV dependency. Use 3D-3D registration approach instead for multi-camera.
[ INFO] [1688471931.998739507]: Assembled 0 obstacle and 0 ground clouds (8 points, 0.000034s)
[ INFO] [1688471932.001066806]: rtabmap (5): Rate=1.00s, Limit=0.000s, Conversion=0.0013s, RTAB-Map=0.0675s, Maps update=0.0080s pub=0.0024s (local map=2, WM=2)

With OpenGV

[ INFO] [1688471298.807598374]: rtabmap 0.21.0 started...
[ WARN] [1688471299.035033460]: Graph has changed! The whole cloud is regenerated.
[ INFO] [1688471299.035451989]: Assembled 0 obstacle and 1 ground clouds (24 points, 0.000574s)
[ INFO] [1688471299.047212214]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0080s, RTAB-Map=0.0829s, Maps update=0.0080s pub=0.0123s (local map=1, WM=1)
[ INFO] [1688471299.985519059]: Assembled 0 obstacle and 0 ground clouds (24 points, 0.000017s)
[ INFO] [1688471299.987318280]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0021s, RTAB-Map=0.0544s, Maps update=0.0004s pub=0.0018s (local map=1, WM=1)
[ INFO] [1688471300.988292203]: Assembled 0 obstacle and 0 ground clouds (24 points, 0.000008s)
[ INFO] [1688471300.989580618]: rtabmap (3): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0557s, Maps update=0.0001s pub=0.0013s (local map=1, WM=1)
[ INFO] [1688471301.993903684]: Assembled 0 obstacle and 0 ground clouds (24 points, 0.000022s)
[ INFO] [1688471301.998177240]: rtabmap (4): Rate=1.00s, Limit=0.000s, Conversion=0.0026s, RTAB-Map=0.0605s, Maps update=0.0002s pub=0.0043s (local map=1, WM=1)
[ INFO] [1688471303.000163470]: Assembled 0 obstacle and 0 ground clouds (24 points, 0.000008s)
[ INFO] [1688471303.001417646]: rtabmap (5): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0657s, Maps update=0.0001s pub=0.0013s (local map=1, WM=1)
[ INFO] [1688471303.989509536]: Assembled 0 obstacle and 0 ground clouds (24 points, 0.000009s)
[ INFO] [1688471303.992099720]: rtabmap (6): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0570s, Maps update=0.0002s pub=0.0026s (local map=1, WM=1)
[rtabmap/rtabmap-5] process has died [pid 8742, exit code -11, cmd /home/ericlai/visual_ws/devel/lib/rtabmap_slam/rtabmap --delete_db_on_start rgbd_image0:=/left_camera/rgbd_image rgbd_image1:=/right_camera/rgbd_image rgb/image:=/color/image_raw depth/image:=/depth/image_rect_raw rgb/camera_info:=/color/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/depth/image_rect_raw scan_descriptor:=/scan_descriptor user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections fiducial_transforms:=/fiducial_transforms odom:=wheel_odom imu:=/imu/data grid_map:=/map __name:=rtabmap __log:=/home/ericlai/.ros/log/6f045b80-1a60-11ee-9597-9bb5185ae478/rtabmap-rtabmap-5.log].
log file: /home/ericlai/.ros/log/6f045b80-1a60-11ee-9597-9bb5185ae478/rtabmap-rtabmap-5*.log
matlabbe commented 1 year ago

Without openGV, the error just tells you that default 2D->3D pose estimation cannot be done with multi-camera, but still try to do it with 3D->3D approach.

With OpenGV, you have to disable -march=native when building OpenGV, here how I built it in this dockerfile: https://github.com/introlab/rtabmap/blob/64f79813cd2c3a7e3f916a7ef2637e93f1f13a5f/docker/focal/Dockerfile#L8-L17