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PointCloud2 frame oscillates when viewed in RVIZ

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PointCloud2 frame oscillates when viewed in RVIZ

asabet
16 posts
This post was updated on Aug 02, 2018; 5:03pm.
In a possibly related issue, if I display the PointCloud2 topic, I get the local pointcloud estimate that oscillates between two regions:





Why is this? How can I debug this issue?

My launch files for stereo_odometry and rtabmap:



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Re: PointCloud2 frame oscillates when viewed in RVIZ

matlabbe
Administrator
4218 posts
It is difficult to see the problem, can you take a video? What is the TF tree? There is maybe two nodes publishing a TF on the same name, which could make data flipping between both.