Hi,

I am using rtabmap latest pull on ROS kinetic.

With default settings and demo_robot_mapping.launch on a pre recorded rosbag, the mapping progresses nicely for 80-85 percent of the bag play. After that it just stops with no warning or error messages. However the visual odometry and laser scans are published and can be visualized on rviz.

I thought this might be due to GTSAM, so I changed Optimizer/Strategy to 0 and tried the optimization with TORO. With this the mapping progresses but the loop closure could not be detected and the following Warnings are continuously published.

[ INFO] [1542862881.032622088, 1535796433.983701935]: rtabmap (670): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1392s, Maps update=0.0148s pub=0.0102s (local map=612, WM=612)
[ WARN] (2018-11-22 14:01:21.974) Rtabmap.cpp:2547::process() Rejecting all added loop closures (1, first is 671 <-> 125) in this iteration because a wrong loop closure has been detected after graph optimization, resulting in a maximum graph error ratio of 1473.318115 (edge 412->413, type=0, abs error=6.125689 m, stddev=0.004158). The maximum error ratio parameter "RGBD/OptimizeMaxError" is 2.000000 of std deviation.
[ WARN] (2018-11-22 14:01:21.974) Rtabmap.cpp:2571::process() Rejecting all added loop closures (1, first is 671 <-> 125) in this iteration because a wrong loop closure has been detected after graph optimization, resulting in a maximum graph error ratio of 48.344860 (edge 412->413, type=0, abs error=11.516787 deg, stddev=0.004158). The maximum error ratio parameter "RGBD/OptimizeMaxError" is 2.000000 of std deviation.
[ WARN] (2018-11-22 14:01:21.974) Rtabmap.cpp:2581::process() Loop closure 671->125 rejected!
[ INFO] [1542862881.998658637, 1535796434.950497694]: rtabmap (671): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1277s, Maps update=0.0112s pub=0.0090s (local map=612, WM=612)
[ WARN] (2018-11-22 14:01:23.247) Rtabmap.cpp:2547::process() Rejecting all added loop closures (1, first is 672 <-> 125) in this iteration because a wrong loop closure has been detected after graph optimization, resulting in a maximum graph error ratio of 1477.281738 (edge 412->413, type=0, abs error=6.142168 m, stddev=0.004158). The maximum error ratio parameter "RGBD/OptimizeMaxError" is 2.000000 of std deviation.
[ WARN] (2018-11-22 14:01:23.247) Rtabmap.cpp:2571::process() Rejecting all added loop closures (1, first is 672 <-> 125) in this iteration because a wrong loop closure has been detected after graph optimization, resulting in a maximum graph error ratio of 48.413525 (edge 412->413, type=0, abs error=11.533143 deg, stddev=0.004158). The maximum error ratio parameter "RGBD/OptimizeMaxError" is 2.000000 of std deviation.
[ WARN] (2018-11-22 14:01:23.247) Rtabmap.cpp:2581::process() Loop closure 672->125 rejected!

The same bag file worked previously on ROS Indigo but since then I have upgraded to Kinetic and cannot revert back.

Can you suggest something.

Thanks

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Alex