An error occurred when executing RTAB-MAP+Realesnse D435i+ORB_SLAM2

[Carol_]

The procedure is as follows
1.cmake -DWITH_G2O = OFF  ..
3.make -j4
4.sudo make install
5.sudo ldconfig

Then
Terminal1
roslaunch realsense2_camera rs_rgbd.launch

Terminal2
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath "/home/carol/ORB_SLAM2/Vocabulary/ORBvoc.txt"" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false

The following error was displayed.
OdometryORBSLAM2.cpp:1027::computeTransform() RTAB-Map is not built with ORB_SLAM2 support! Select another visual odometry approach.

The camek status is With ORB_SLAM2=YES and With g2o =NO

Please tell me how to solve this problem.
thaaaaanks!!

[matlabbe]

Hi,

Make sure to uninstall rtabmap an rtabmap_ros binaries (e.g., sudo apt remove ros-melodic-rtabmap). You can look in rtabmapviz->About to see if ORBSLAM2 support is on. If not, it is because ros is not starting the right rtabmap library.

You have to rebuild rtabmap_ros too.

cheers,
Mathieu