Guidance on Combining Wheel and RGB-D Odometry in RTAB-Map (ROS2 Humble)

[CGV_Kwak]

I am a beginner in this field and currently developing an indoor autonomous navigation robot using RTAB-Map.
When we run our execution script, the odometry (odom) values are published in an unstable manner.

We are considering two approaches to improve this:

Method1. RGB-D Odom only

Method2. RTAB-Map RGB-D Odom

Method3. Using RGB-D odometry as the default and switching to wheel odometry when a loss occurs

Given the script we currently use (shared below), how should we modify it to achieve this behavior?
Also, could you kindly review our script to see if there are any parts that need to be revised or improved?

For context, we are using a Realsense D455 camera, an Omorobot R1V2, Nav2 platform, and ROS2 Humble on Ubuntu 22.04.

Thank you very much for your kind support and guidance.


run_map.sh

run_local_test.sh