Re: laser scan error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/laser-scan-error-tp1007p1032.html

Hi,

Actually, I was thinking about the terminal output log of the odometry node. Something like

[INFO] Odom: quality=320, std dev=0.001m, update time=0.97s
[INFO] Odom: quality=300, std dev=0.001m, update time=0.11s
...

In that log, you can see the odometry update time (here around 97-110 ms or ~10 Hz). You cannot set explicitly a frame rate for odometry, it depends on the CPU. It processes the input images as fast at it can, dropping the other frames. If the computation power is higher, odometry will run at higher frame rate (up to camera frame rate).

You can see the frame rate of the odometry using this rostopic:

$ rostopic hz /rtabmap/odom

For visual odometry, a frame rate over 10Hz at least is required unless the robot is moving slowly. Reducing the number of features to track can reduce odometry update time. In your previous posts, you used a local map of 5000 features, which is a bit high and requires more processing (default is 1000).

cheers,
Mathieu