diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index ab73b32e..0222175d 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -4,9 +4,13 @@ on:
   push:
     branches:
       - 'master'
+  workflow_dispatch:
 
 jobs:
   docker:
+    # Built and pushed only from master (push or manual dispatch), since it
+    # pushes the introlab3it/rtabmap_ros tags to Docker Hub.
+    if: github.ref == 'refs/heads/master'
     runs-on: ubuntu-latest
     
     strategy:
diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt
index 4dc41907..bb6aa06e 100644
--- a/rtabmap_conversions/CMakeLists.txt
+++ b/rtabmap_conversions/CMakeLists.txt
@@ -30,7 +30,7 @@ find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 
-find_package(RTABMap 0.23.5 REQUIRED)
+find_package(RTABMap 0.23.10 REQUIRED)
 
 # libraries
 SET(Libraries
diff --git a/rtabmap_odom/src/RGBDOdometryNode.cpp b/rtabmap_odom/src/RGBDOdometryNode.cpp
index 270d9ede..4a406446 100644
--- a/rtabmap_odom/src/RGBDOdometryNode.cpp
+++ b/rtabmap_odom/src/RGBDOdometryNode.cpp
@@ -71,7 +71,9 @@ int main(int argc, char **argv)
 	}
 
 #ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
+	// Initialize the embedded python interpreter on the main thread, as
+	// the nodelet below is loaded in a worker thread.
+	rtabmap::PythonInterface::instance("rgbd_odometry");
 #endif
 	rclcpp::init(argc, argv);
 	rclcpp::NodeOptions options;
diff --git a/rtabmap_odom/src/StereoOdometryNode.cpp b/rtabmap_odom/src/StereoOdometryNode.cpp
index 60a729ce..ce4385e7 100644
--- a/rtabmap_odom/src/StereoOdometryNode.cpp
+++ b/rtabmap_odom/src/StereoOdometryNode.cpp
@@ -71,7 +71,9 @@ int main(int argc, char **argv)
 	}
 
 #ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
+	// Initialize the embedded python interpreter on the main thread, as
+	// the nodelet below is loaded in a worker thread.
+	rtabmap::PythonInterface::instance("stereo_odometry");
 #endif
 	rclcpp::init(argc, argv);
 	rclcpp::NodeOptions options;
diff --git a/rtabmap_slam/src/CoreNode.cpp b/rtabmap_slam/src/CoreNode.cpp
index d16aa4f1..b4a82302 100644
--- a/rtabmap_slam/src/CoreNode.cpp
+++ b/rtabmap_slam/src/CoreNode.cpp
@@ -29,6 +29,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rclcpp/rclcpp.hpp"
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UDirectory.h>
+#include <rtabmap/core/Version.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 
 int main(int argc, char** argv)
 {
@@ -81,6 +85,12 @@ int main(int argc, char** argv)
 		arguments.push_back(argv[i]);
 	}
 
+#ifdef RTABMAP_PYTHON
+	// Initialize the embedded python interpreter on the main thread, as
+	// the nodelet below is loaded in a worker thread.
+	rtabmap::PythonInterface::instance("rtabmap");
+#endif	
+
 	rclcpp::init(argc, argv);
 	rclcpp::NodeOptions options;
 	options.arguments(arguments);
diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index c1fb75b8..d7b8aad0 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -3742,10 +3742,10 @@ void CoreWrapper::globalBundleAdjustmentCallback(
 	UTimer timer;
 	int optimizer = (int)Optimizer::kTypeG2O; // g2o
 	int iterations = Parameters::defaultOptimizerIterations();
-	float pixelVariance = Parameters::defaultg2oPixelVariance();
+	float pixelVariance = Parameters::defaultOptimizerPixelVariance();
 	bool rematchFeatures = true;
 	Parameters::parse(parameters_, Parameters::kOptimizerIterations(), iterations);
-	Parameters::parse(parameters_, Parameters::kg2oPixelVariance(), pixelVariance);
+	Parameters::parse(parameters_, Parameters::kOptimizerPixelVariance(), pixelVariance);
 	if(req->type == 1.0f)
 	{
 		optimizer = (int)Optimizer::kTypeCVSBA;