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--tp10510p10578.html

Thank you very much for the reply.
I set the focus in the camera for further objects and extend the view - as much I could without changing the lenses, and also re-calibrated. Now odometry seems to work better, thank you!

I recorded rviz output to show what is going on in the pointcloud and TF during mapping.
The video: https://drive.google.com/file/d/1DWj7_HBaG6-x7ns5acTxFS90yzqQnJoV/view?usp=sharing

When an update of tf between map and odom_link comes, then it creates a large shift, which doesn't seem to be correct. Before that, during the first phase when only odometry and imu was affecting the tf it seems reasonable.