Re: Behavior of rtabmap different in ROS2 compared to ROS1
The recorded images are not rectified. In your ros1 launch file, you feed correctly the output of stereo_image_proc in rtabmap. For ros2, it was more complicated to test your launch file. To go around stereo_image_proc and use only rtabmap.launch or rtabmap.launch.py, we can use Rtabmap/ImagesAlreadyRectified parameter to tell rtabmap to rectify the images for convenience. One issue with your bag is that the camera_info doesn't include a frame_id. I did a patch in this commit (also merged to ros2 branch) as a workaround as the calibration contains the baseline.