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Visually, the loop closure is good, but it is not the same location. This is a common problem with simulated environments with repetitive textures. Try decreasing RGBD/OptimizeMaxError parameter (default 1 meter) to something like 0.1 meter or less. This will make rtabmap rejecting loop closures that screw up too much the map.
<param name="RGBD/OptimizeMaxError" type="double" value="0.1" />
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