Hi,
Old maps would still be working, but I added new checks to re-optimize the map if the nodes in the map and nodes in Working Memory (WM) differ (to avoid some others issues). When creating the map from DatabaseViewer, it would use all nodes in the graph. If memory management is enabled, on runtime the map may not match the WM, so the map has to be regenerated. If you built the map with memory management, then created the map in DatabaseViewer, you should disable memory management parameters (Rtabmap/TimeThr=0, Rtabmap/MemoryThr = 0) and set Mem/InitWMWithAllNodes to make sure all nodes in the optimized map are in WM on localization mode.
Another tip: instead of remapping the area again to upgrade to latest rtabmap version, we can upgrade an old database to a new version with:
rtabmap-reprocess --Db/TargetVersion "" --Rtabmap/MemoryThr 0 --Rtabmap/TimeThr 0 old_map.db new_map.db
cheers,
Mathieu
Small test with this
demo (I've written TURTLEBOT3 with DbViewer map editor, then reloaded in localization mode):