Data Not Received in RTAB-Map with SDK 4.1.2

[Indro-mostafa]

Preliminary Checks

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Description

I'm encountering an issue where data is not being received in RTAB-Map when using the latest SDK version 4.1.2. This was working fine with SDK version 4.0.6 without any issues, using the same RTAB-Map version for both SDK

Steps to Reproduce

Use the ZED Wrapper with SDK version 4.1.2.
Subscribe to the following topics:

/front/zed_node/rgb/image_rect_color
/front/zed_node/depth/depth_registered
/front/zed_node/rgb/camera_info
/cypher/rtabmap/odom_info

Expected Result

expected result is that rtabmap get subscribed to all the topics that is published by zed x with same sync as it was doing with previous sdk

Actual Result

building_new | [rtabmap-4] /front/zed_node/rgb/camera_info
building_new | [rtabmap-4] /cypher/rtabmap/odom_info
building_new | [rgbd_odometry-3] [WARN] [1720631805.641249984] [cypher.rtabmap.rgbd_odometry]: rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set.
building_new | [rgbd_odometry-3] rgbd_odometry subscribed to (approx sync):
building_new | [rgbd_odometry-3] /front/zed_node/rgb/image_rect_color,
building_new | [rgbd_odometry-3] /front/zed_node/depth/depth_registered,
building_new | [rgbd_odometry-3] /front/zed_node/rgb/camera_info

ZED Camera model

ZED

Environment

OS: Ubuntu 20.04
ROS Version: ROS 2 Humble
camera model :zed x
RTAB-Map Version: 0.21.3
Hardware: ZED Box Orin

Anything else?

No response

[Indro-mostafa]

I have resolved the issue by adjusting the QoS settings for RTAB-Map to match those of the ZED wrapper. By setting the QoS value to 1 in RTAB-Map, it now uses the same RELIABLE reliability as the ZED wrapper's QoS settings.