I'm using the Orbbec Astra camera on Ros 2 Humble. The ROS 2 wrapper for the camera driver is here:
https://github.com/rafal-gorecki/ros2_astra_cameraI'm reading through these to get an idea of how to increase rtabmap performance.
Advanced Parameter Tuning
https://wiki.ros.org/rtabmap_ros/Tutorials/Advanced%20Parameter%20TuningIssue 358
https://github.com/introlab/rtabmap_ros/issues/358#issuecomment-544731357Issue 449
https://github.com/introlab/rtabmap/issues/449What is the best way for me to go about messing with the variables and measuring how each one affects performance so I can make the perfect config?