rtabmap in mapping mode does not have an incremental memory !!!

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Hi everyone,

I have run rtabmap in mapping mode, but it seems the memory is not incremental, and after that I run rtabmap in localization mode and also run move_base, it cannot provide the map for the move_base! why?

in the attached pic you can see that even it is in mapping mode, working memory is not incremental: C:\fakepath\rtabmap_not_working_properly.png

in Localization mode, it says:

[ WARN] (2021-08-12 16:49:45.368) Memory.cpp:835::update() The working memory is empty and the memory is not incremental (Mem/IncrementalMemory=False), no loop closure can be detected! Please set Mem/IncrementalMemory=true to increase the memory with new images or decrease the STM size (which is 1 including the new one added).

while, in it shows in database:

rtabmap: Saving database/long-term memory... (located at /home/masoumeh/.ros/rtabmap.db) rtabmap: Saving database/long-term memory...done! (located at /home/masoumeh/.ros/rtabmap.db, 48 MB)

it works so strange!!!

thanks