Re: Some issue with rtabmap_drone_example

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-issue-with-rtabmap-drone-example-tp10628p10638.html


Your vo is too slow: "update time=0.408359s", so odometry can get lost easily. When this happens, it is likely that the drone crashes.

For the warnings, if you don't use the default r200 config, you have to fix the camera outputs to avoid the warning. It seems that your rgb and depth images don't have same resolution. Decrease RGB resolution to match the depth one. Note that high resolution like this will result in slow VO (high update time).

The static transform may be not the cause, though that kind of transform would be in general already provided by your URDF.