Stereo baseline error when I use intelrealsense-D435i

[kartik]

HI,

I recently bought a realsense-D435i camera and am following the instructions given in
http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping
and after finishing my setup I came up with a correction while using the rs_camera.launch command it should be :

roslaunch realsense2_camera rs_camera.launch enable_depth:=false enable_infra:=true enable_infra1:=true enable_infra2:=true unite_imu_method:=linear_interpolation enable_gyro:=true enable_accel:=true enable_sync:=true

at least for the D435i version, because they recently changed the launch file of rs_camera

Now, coming to the real error, when I try to run the stereo mapping node using:

roslaunch rtabmap_ros rtabmap.launch \
   rtabmap_args:="--delete_db_on_start" \
    left_image_topic:=/camera/infra1/image_rect_raw \
    right_image_topic:=/camera/infra2/image_rect_raw \
    left_camera_info_topic:=/camera/infra1/camera_info \
    right_camera_info_topic:=/camera/infra2/camera_info \
    stereo:=true \
    wait_imu_to_init:=true \
    imu_topic:=/rtabmap/imu


 I get this error

[ERROR] [1616094745.538703008]: The stereo baseline (-0.049853) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.

there is a similar one posted on rtabmap-ros github this issues:
https://github.com/introlab/rtabmap_ros/issues/93

but I am still not sure about the fix!

Could anyone provide some insights on how to solve this problem?

Thank you for your time!

Best,
Kartik Patath