Build rtabmap with ORBSLAM3 support

[schmiddey]

I was not able to build rtabmap with ORBSLAM3 support.

my system: Ubuntu 22.04.4 LTS

ORBSLAM3 branch: c++14_comp (build without the patch from previous posts)
rtabmap branch: master

CMake output (cmake .. -DCMAKE_BUILD_TYPE=Release -DWITH_ORB_SLAM=ON -DWITH_G2O=OFF):
"--   With ORB_SLAM3            = YES (License: GPLv3)"

after build, rtabmap --version shows:
"With ORB_SLAM:           false"

whats the problem?

Thanks,
Michael

[matlabbe]

If "With ORB_SLAM3 = YES (License: GPLv3)" is shown and it is built successfully, the "rtabmap" you are launching is not the right one. Do "which rtabmap". I suspect that you have the binaries installed, just remove them to avoid confusion.

sudo apt remove ros-$ROS_DISTRO-rtabmap

[schmiddey]

Hi, thanks for the answer

i removed all binaries from my  system (checked it double) and starting the freshly built executable directly in the build/bin/ folder.

Regards
Schmiddey