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--tp10510p10598.html

those are also captured at the same moment

Are you sure? In the bag and in the second video we can see in odometry view that left and right images are shaking against each other when the camera is moving. Ideally, the images should be taken with same hardware signal on both cameras to capture exactly at the same time.


tested with:

ros2 launch rtabmap_launch rtabmap.launch.py \
   args:="-d" \
   stereo:=true \
   use_sim_time:=true \
   left_image_topic:=/left/image_rect_color \
   left_camera_info_topic:=/left/camera_info \
   right_camera_info_topic:=/right/camera_info \
   right_image_topic:=/right/image_rect

ros2 bag play rosbag2_2024_10_21-10_42_19_0.db3 --clock --remap tf:=tf_old