Problem with RTAB-Map

[RaduLucianR]

Hi,

I'm trying to use the D435 from this package in RTAB-Map in Gazebo to implement mapping for my robot. I managed to do it with the default libgazebo_ros_openni_kinect package but I can't get it to work with the D435. The following error message appears in the terminal:

[FATAL] (2022-06-11 15:57:57.107) Memory.cpp:4405::createSignature() Condition (data.depthOrRightRaw().empty() || ( ( data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1 || data.depthOrRightRaw().type() == CV_8UC1) && ( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) || (data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols)))) not met! [image=(640/480, type=16, [accepted=0,16]) depth=(1280/720, type=2 [accepted=2(depth mm),5(depth m),0(stereo)]). For stereo, left and right images should be same size. For RGB-D, depth can be X times smaller than RGB (where X is an integer).]
terminate called after throwing an instance of 'UException'
  what():  [FATAL] (2022-06-11 15:57:57.107) Memory.cpp:4405::createSignature() Condition (data.depthOrRightRaw().empty() || ( ( data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1 || data.depthOrRightRaw().type() == CV_8UC1) && ( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) || (data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols)))) not met! [image=(640/480, type=16, [accepted=0,16]) depth=(1280/720, type=2 [accepted=2(depth mm),5(depth m),0(stereo)]). For stereo, left and right images should be same size. For RGB-D, depth can be X times smaller than RGB (where X is an integer).]

Checking the RTAB-Map repository I found that this is a problem caused by this " For RGB-D, depth can be X times smaller than RGB (where X is an integer).]" but even if I don't use rgb-d it doesn't work, throwing the same error.

Do you happen to know how to configure RTAB-Map to work with the D435 from this repo?