Hello, My robotics team and I want to implement the nav2 stack with a Realsense D435i. We wanted to use slamtoolbox for localization and rtabmap/rgbdodometry for visual odometry. For slamtoolbox, we planned on using the depthimagetolaserscan package to convert the realsense input into a scan for Slam toolbox. While running this stack, we are unable to generate a map of the environment despite having a full transform tree (map-> odom-> baselink-> cameralink-> ). We run into the following errors shown below regarding the dropped frames. However, when we try to run rtabmap/rgbdodometry with rtabmap localization though, we are able to generate a map. We are also able to generate a map by just running slam toolbox with a static odom -> base_link transform to complete the transform tree. Is there a better way to set this up to make slam toolbox compatible with rgbd odometry or are there better visual odometry tools that work with slam toolbox?

Operating System:
    Ubuntu 20.04
Installation type:
    apt-get install ros-foxy-slam-toolbox
ROS Version:
    ROS2 foxy
Sensor:
    Intel Realsense D435i with ROS 2 foxy depthimage_to_laserscan package

Steps to reproduce issue

Run the following launch files from the following packages with baseframe configured to baselink

From Slam toolbox: localization.launch.py
From Depthimage_to_Laserscan: depthimage_to_laserscan-launch.py
From Rtabmap_Ros (Build from source, ROS2 branch): realsense_d400.launch.py (with the rtabmap_ros node commented out)
Static transform from base_link to camera_link
From realsense_camera: rs_launch.py

Expected behavior

Creates a map of the environment (/map topic is not empty) Actual behavior

/map topic is empty with the following messages: [INFO] [launch]: All log files can be found below /home/kushtimusprime/.ros/log/2021-06-25-00-41-36-760662-kushtimusprime-XPS-13-9380-77482 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [localizationslamtoolboxnode-1]: process started with pid [77484] [localizationslamtoolbox_node-1] [INFO] [1624599697.263601718] [slamtoolbox]: Node using stack size 40000000 [localizationslamtoolboxnode-1] [INFO] [1624599697.285391432] [slamtoolbox]: Using solver plugin solverplugins::CeresSolver [localizationslamtoolboxnode-1] [INFO] [1624599697.285764797] [slamtoolbox]: CeresSolver: Using SCHURJACOBI preconditioner. [localizationslamtoolboxnode-1] [INFO] [1624599698.803987092] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.764 for reason 'Unknown' [localizationslamtoolboxnode-1] [INFO] [1624599698.837161163] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.797 for reason 'Unknown' [localizationslamtoolboxnode-1] [INFO] [1624599698.870709130] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.831 for reason 'Unknown' [localizationslamtoolboxnode-1] [INFO] [1624599698.904646026] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.864 for reason 'Unknown' [localizationslamtoolboxnode-1] [INFO] [1624599698.936217126] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.897 for reason 'Unknown' [localizationslamtoolboxnode-1] [INFO] [1624599698.970779940] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.930 for reason 'Unknown' [localizationslamtoolboxnode-1] [INFO] [1624599699.003707781] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.963 for reason 'Unknown' [localizationslamtoolboxnode-1] [INFO] [1624599699.036962088] [slamtoolbox]: Message Filter dropping message: frame 'cameradepthframe' at time 1624599698.997 for reason 'Unknown'