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!