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For rtabmap node, try with approx_sync:=false. You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries):

$ sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
$ cd ~/catkin_ws/src
$ git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
$ cd ~/catkin_ws
$ catkin_make

For rtabmap node, try with approx_sync:=false. as you are using stereo data (which should be exactly synchronized). You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries):

$ sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
$ cd ~/catkin_ws/src
$ git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
$ cd ~/catkin_ws
$ catkin_make

For rtabmap node, try with approx_sync:=false as you are using stereo data (which should be exactly synchronized). You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries):

$ sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
$ cd ~/catkin_ws/src
$ git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
$ cd ~/catkin_ws
$ catkin_make

For rtabmap node, try with approx_sync:=false as you are using stereo data (which should be exactly synchronized). You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries):source:

$ sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
$ cd ~/catkin_ws/src
$ git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
$ cd ~/catkin_ws
$ catkin_make

$ sudo apt remove ros-$ROS_DISTRO-rtabmap
$ cd ~
$ git clone https://github.com/introlab/rtabmap.git
$ cd ~/rtabmap/build
$ cmake ..
$ make -j4
$ sudo make install