Hello, I am testing ROS RTAB_MAP with Isaac Sim and not having very good results. I’m not 100% sure about this, but I suspect that the camera intrinsics that are being broadcasted on the camera_info topic may be incorrect, or at least they do not change when I adjust the Vertical Aperture (they do change when I adjust the horizontal aperture).
There is definitely a problem with the camera_info topic in Isaac Sim. I generated a custom calibration file in simulation with much better results.
Filed a bug to look into this.
Can you provide your custom calibration + the settings for the camera? Will make it easier to verify that the issue is fixed.
It happens with any camera.