rtabmap slow down

[Dong Jin Yook]

Hi,

I`m trying to create a map using rtabmap in Gazebo.
After 2 minutes from the start of map creation, it slows down.
In the gazebo, there is no abnormality in the movement of the robot. In the case of rviz, the movement of the robot is cut off and the map is not smooth.
After running the launch file, the robot stays in place about two minutes and then moves, but the same problem still occurs.

Computer Specifications:
memory: 16GB
Processor: Intel core i5
Graphics: GeForce GTX 660 Ti

Parameter:
   

    <param name="RGBD/ProximityBySpace"               type="string"    value="false"/>    
    <param name="RGBD/AngularUpdate"                  type="string"    value="0.5"/>    
    <param name="RGBD/LinearUpdate"                   type="string"    value="0.5"/>     
    <param name="RGBD/OptimizeFromGraphEnd"           type="string"    value="false"/>   
    <param name="Reg/Strategy"                        type="string"    value="1"/>       
    <param name="Reg/Force3DoF"                       type="string"    value="false"/> 
    <param name="Vis/MinInliers"                      type="string"    value="20"/>
    <param name="Vis/InlierDistance"                  type="string"    value="0.05"/>     
    <param name="Rtabmap/TimeThr"                     type="string"    value="700"/>
    <param name="Mem/RehearsalSimilarity"             type="string"    value="0.01"/>
    <param name="Icp/CoprrespondenceRatio"            type="string"    value="0.001"/>
    <param name="Grid/FromDepth"                      type="string"    value="false"/>
    <param name="RGBD/ProximityPathMaxNeighbors"      type="string"    value="0"/>
    <param name="Kp/MaxFeatures"                      type="int"       value="-1" />
    <param name="Grid/DepthDecimation"                type="int"       value="8"/> 
    <param name="Gird/NoiseFilteringRadius"           type="double"    value="0.05"/>
    <param name="Grid/NoiseFilteringMinNeighbors"     type="double"    value="2"/>
    <param name="Grid/MinClusterSize"                 type="int"       value="20"/> 
    <param name="Grid/MaxGroundAngle"                 type="double"    value="45"/> 
    <param name="Grid/MaxObstacleHeight"              type="double"    value="2.0"/> 
    <param name="Gird/MaxGroundHeight"                type="double"    value="0.1"/>

Have you any idea of what am I doing wrong?
Thanks in advance!

[matlabbe]

Hi,

How odometry is computed? when the slow down occurs, is it still published at the same rate than at the beginning?

[Dong Jin Yook]

Hi,

1. How odometry is computed?
    - I do not understand what it means

2. when the slow down occurs, is it still published at the same rate than at the beginning?
    - No. The rate has been reduced by about 10.

[matlabbe]

1. rtabmap requires an odometry input, which node is publishing /odom? For example, is it from gazebo or rgbd_odometry?