RtabMap cloud_map not published
I am trying to use the d435i and t265 together for rtabMap. I am following instructions from RtabMap Wiki where they specifically mention how to use the two cameras together. Everything seems to launch fine but I am not seeing anything in the rtabmap visualizer. The individual camera topics are showing up fine but the rtabmap/cloud_map has nothing.
Commands used:
roslaunch realsense2_camera rs_d400_and_t265.launch align_depth:=true unite_imu_method:=linear_interpolation
roslaunch rtabmap_ros rtabmap.launch args:="-d --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3" odom_topic:=/t265/odom/sample frame_id:=t265_link rgbd_sync:=true depth_topic:=/d400/aligned_depth_to_color/image_raw rgb_topic:=/d400/color/image_raw camera_info_topic:=/d400/color/camera_info approx_rgbd_sync:=false visual_odometry:=false
What is the terminal output of rtabmap.launch? Just tested with latest librealsense 2.42 and realsense2_camera ros package and no problem following the wiki instructions.
I followed the instructions from this link to install RtabMap and Realsense: https://github.com/JetsonHacksNano/in... Are you looking for something particular in the terminal output?
If rtabmap is working, you should see those info log in the terminal at each second:
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