Official RTAB-Map Forum - Re: We are receiving imu data (buffer=37), but cannot interpolate imu transform at time. IMU won't be added to graph.

Re: We are receiving imu data (buffer=37), but cannot interpolate imu transform at time. IMU won't be added to graph.

Posted by grzegorz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/We-are-receiving-imu-data-buffer-37-but-cannot-interpolate-imu-transform-at-time-IMU-won-t-be-added--tp10510p10517.html

To give a whole picture:
I have two cameras with the distance between them 100mm and with camera_link exactly between them. Camera_link is +77mm on X and +12 mm on Z from base_link. Base_link is located exactly on the middle of IMU.
Transformations map -> odom_link and odom_link -> base_link are provided by rtabmap_odom and rtabmap_slam.
I try different combinations of transformation base_link -> imu_link. In the graph from the fist message I try with zero tf from base_link -> imu_link and also with tf turned off.
For both imu_filter_madgwick has publish_tf: false.

Also I tried with IMU posting messages at the frequency of cameras and 2x (30Hz) - both results in the "cannot interpolate imu transform" message.