RTABMAP Optimizer problem

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I am using RtabMap along with Ros2 Galactic and I have received the following warning after several seconds working:

[rtabmap-1] [ WARN] (2022-08-13 13:03:18.500) Optimizer.cpp:129::create() GTSAM optimizer not available. TORO will be used instead.
[rtabmap-1] [ WARN] (2022-08-13 13:03:22.597) Rtabmap.cpp:1244::process() Update map correction based on last localization saved in database! correction = xyz=16.608225,-0.877015,0.000000 rpy=0.000000,-0.000000,0.853309, nearest id = 312 of last pose = xyz=16.291098,-1.225761,-0.779420 rpy=0.020526,-0.003285,0.849649, odom = xyz=-0.471276,0.009644,-0.173527 rpy=-0.051436,0.141646,-0.003660
[rtabmap-1] [ WARN] (2022-08-13 13:03:23.869) OptimizerTORO.cpp:151::optimize() TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter Optimizer/Strategy). Link 1 ignored...
[rtabmap-1] [ WARN] (2022-08-13 13:03:23.869) Rtabmap.cpp:3337::process() Localization was good, but waiting for another one to be more accurate (RGBD/MaxOdomCacheSize>0)
[rtabmap-1] [ WARN] (2022-08-13 13:03:24.983) OptimizerTORO.cpp:151::optimize() TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter Optimizer/Strategy). Link 1 ignored...

I have checked that the galactic version of rtabmap includes GTSAM and g2o too, which I also tried, so I don't know why is it that I get this error...

Thank you for your help!