Hi Mathieu,
The re-basing worked to load the map but as soon as the Nav2 gets loaded twice, the obstacles appear again which were cleared.
When obstacles was cleared from map which is looks like salt pepper noise in bottom of the map.
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n10286/rtabmap_log_minus_obstacle.png)
Loading Nav2 again, this obstacle appears,
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n10286/rtabmap_log_obstacle_appear.png)
Also I have noticed when I relaunch databaseviewer the obstacle which was cleared still appears in database map vs the not in the exported optimized map ? Can this be issue ?
These are my launch files for Nav2, map QoS is transient local.
nav2_bringup.pynav2_params.yaml