Recently, I found in the latest version of RTAB-MAP that, it is able to remove parts of point cloud from the map corresponding to some dynamic objects. But I didn't found such functionality one month ago. Did you added this function very recently? Do you think it is stable enough now? Or can we still put some effort into this aspect and further improve the mapper and odometry?
No there is no change about handling dynamic objects. When some clouds seem to disappear it is because the node filtering is activated as described in this post. Odometry is still affected by dynamic objects.