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--tp10510p10590.html

Yes, I am eager to make it work and appreciate any help here. : )

video:
https://drive.google.com/file/d/1gQouPDyBnPS7ln_D9fjWvPjvkbvAcbJp/view?usp=sharing

rosbag:
https://drive.google.com/file/d/1XxuafTIQJqMl89ViWZGcRrNRwIvLPM9T/view?usp=sharing

Usually, when I test, I don't have as much problem with odometry itself as with loop closure. Odometry sometimes does a small shift, but it is not that bad as when a loop closure comes. I also tried with default parameters with rtabmap_launch:
https://drive.google.com/file/d/1pQfnO5XzccsEvWdGytUBu1BhrkyshhLb/view?usp=sharing

At general, I publish images from both cameras with the same timestamp, because those are also captured at the same moment. The cameras are two raspberry pi module 3 cameras with a distance of 100 mm between them.
Maybe there is a problem with loop closure parameters, but I am just exploring that.