# Slam toolbox with Rtabmap odometry

Hello, My robotics team and I want to implement the nav2 stack with a Realsense D435i. We wanted to use slam_toolbox for localization and rtabmap/rgbd_odometry for visual odometry. For slam_toolbox, we planned on using the depthimage_to_laserscan 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-> base_link-> camera_link-> <various camera="" depth,="" color,="" etc="" frames="">). We run into the following errors shown below regarding the dropped frames. However, when we try to run rtabmap/rgbd_odometry 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 base_frame configured to base_link

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)