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

Posted by matlabbe 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--tp10510p10522.html

Based on the high IMU delay (which look very similar to image delay), it looks like the camera driver publishes IMU at the "same time" than image topic. Do they have exactly the same stamp? If so, make sure that the camera driver publishes IMU topic and corresponding TF before publishing the image topic, so that rtabmap can receive the IMU (with stamp >= image stamp) before the image (filling its imu buffer and then be able to interpolate the imu pose when receiving the image).