Mapping Issues in Humble

[zbbd]

Hi, I am running RTAB-Map in Humble using the dabai_dcw2 camera for mapping. This is my command：

ros2 launch rtabmap_launch rtabmap.launch.py \
   rtabmap_args:="--delete_db_on_start" \
   rgb_topic:=/camera/color/image_raw \
   depth_topic:=/camera/depth/image_raw \
   camera_info_topic:=/camera/color/camera_info     \
   frame_id:=camera_link  \
   approx_sync:=true \
   qos:=2 \
   rviz:=true \
   queue_size:=30

The map I am getting is very strange, as shown below.



When I was mapping in Foxy, my point cloud data looked much better, and the overall point cloud was not messy, as shown below.



Could you please tell me what might be causing this? Thank you for your help!

[matlabbe]

Is the code from dabai_dcw2 the same between foxy and humble?

If you can share the resulting databases from foxy and humble, it would be useful to compare. Maybe the images provided are slightly different?