Running RTAB Map breaks my TF Tree

[vignesh-anand]

I am running rtab map on my create 3 with a jetson orin nano host computer with jetpack6 and ros humble. Without rtabmap running I have the following TF tree
frames_2024-12-11_18.31.10.pdf

When I run rtab map in localization mode with the following launch file
`from launch import LaunchDescription
from launch.actions import GroupAction
from launch_ros.actions import Node, PushRosNamespace
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
import os

def generate_launch_description():
return LaunchDescription([
GroupAction(
actions=[
PushRosNamespace('rtabmap'),
Node(
package='rtabmap_slam',
executable='rtabmap',
name='rtabmap',
output='screen',
prefix=['taskset -c 0-2'], # Restrict to 3 cores
parameters=[{
'frame_id': 'base_link',

                    # Localization mode parameters
                    'Mem/IncrementalMemory': "False",
                    'Mem/InitWMWithAllNodes': "True",
                    
                    # Database path
                    'database_path': os.path.expanduser('~/.ros/rtabmap.db'),
                    
                    # TF parameters
                    'publish_tf_map': True,
                    'odom_frame_id': 'odom',
                    'map_frame_id': 'map',
                    'tf_delay': 0.5,
                    'map_always_update': True,
                    
                    # Subscription settings
                    'subscribe_depth': False,
                    'subscribe_rgb': False,
                    'subscribe_rgbd': True,
                    'subscribe_scan': True,
                    
                    # Queue sizes
                    'sync_queue_size': 80,
                    'topic_queue_size': 100,
                    
                    # Parallel processing parameters
                    'RGBD/NeighborLinkRefining': "True",
                    'RGBD/ProximityBySpace': "True",
                    'RGBD/AsyncBundleAdjustment': True,
                    'Optimizer/Slam2D': True,
                    'Optimizer/ThreadsCount': 2,
                    'Vis/FeatureThreadsCount': "2",
                    'Vis/EstimationType': "1",
                    'Vis/CorNNThreads': "2",
                    
                    # Movement thresholds
                    'RGBD/LinearUpdate': "0.10",
                    'RGBD/AngularUpdate': "0.087",
                    'RGBD/DetectionRate': 1.5,
                    
                    # CPU optimizations
                    'RGBD/OptimizeFromGraphEnd': "False",
                    'Grid/Sensor': 'scan',
                    'Reg/Force3DoF': "True",
                    'Reg/Strategy': "2",
                    
                    # Point cloud processing
                    'Icp/VoxelSize': "0.15",
                    'Icp/MaxCorrespondenceDistance': "0.2",
                    'Icp/ThreadsCount': 2,
                    
                    # Memory and feature parameters
                    'RGBD/MaxLocalFeatures': 600,
                    'Mem/STMSize': "12",
                    'Mem/BadSignaturesIgnored': "False",
                    
                    # Feature parameters
                    'RGBD/MaxFeatures': 600,
                    'Vis/MinInliers': "10",
                    'Optimizer/Iterations': "10",
                    
                    # Additional parallel processing
                    'RGBD/PoseScanMatching': True,
                    
                    # Added parameters
                    'RGBD/StartAtDock': False,
                    'init_pose_x': 0.0,
                    'init_pose_y': 0.0,
                    'init_pose_z': 0.0,
                    'init_pose_yaw': 0.0,
                }],
                remappings=[
                    ('odom', '/odom'),
                    ('scan', '/scan'),
                    ('rgbd_image', '/rgbd_image'),
                    ('tf', '/tf'),
                    ('tf_static', '/tf_static'),
                ]
            ),
        ]
    ),
    
    # Startup node
    Node(
        package='rtab_nav',
        executable='rtab_startup.py',
        name='rtab_startup',
        output='screen'
    )
])`


The TF tree breaks and I get 

frames_2024-12-11_18.30.41.pdf

Would appreciate some help on what I am doing wrong, tried everything else

[vignesh-anand]

I also notice that the rtab map node does not subscribe to odometry despite it existing and it being published