Re: L515 + T265 RTABMAP stops updating topics after some seconds

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/L515-T265-RTABMAP-stops-updating-topics-after-some-seconds-tp10937p11016.html


Based on

uhroosh wrote

I noticed that eventually the T265 stops publishing new timestamps entirely after a couple minutes or so (i.e. the terminal output just stops). I also noticed that when the T265 stops publishing the timestamps, RTABMAP instantly breaks, which makes sense. The T265 is connected to USB 3.1 and the L515 is connected to USB 2.1 (I cannot switch the L515 to USB 3.1 because the other port on my Raspberry Pi 4 is broken).

Is there anything I can do to fix this problem?

That doesn't look a rtabmap issue. Without starting rtabmap, you could try just starting realsense L515 and T265, then do "rostopic hz ..." on all topics that rtabmap would subscribe to, then measure how much time until T265 is broken.

If the T265 fails and intel doesn't support it anymore, you may have to change the camera. Note that depending on your task, it could be possible to use L515 alone with rtabmap. There are some RGB-Depth sync issues with L515 when using it for visual odometry, but by avoiding fast rotations it can be usable.