Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p1121.html

The TF seems not published very fas (5-10 Hz). Try increasing maximum time to wait for transform (default is 0.1 s):

$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start" wait_for_transform:=1

EDIT
You can also increase the publish_frequency of the robot_state_publisher from 5 Hz to 10 Hz in:

/opt/ros/indigo/share/turtlebot_bringup/launch/includes/robot.launch.xml

so that odometry can be computed faster than 5Hz.