Re: Generating multiple maps with rosbags

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Generating-multiple-maps-with-rosbags-tp1405p1517.html

Hi,

Can you show up the stamp before the waitForTransform() call?

ROS_INFO("stamp=%fs (max wait time=%fs)",stamp, waitForTransformDuration_);

Maybe between rosbags, the new stamp required is too far in the future.You could try this to just use the latest transform:

if(!tfListener_.waitForTransform(fromFrameId, toFrameId, ros::Time(0), ros::Duration(waitForTransformDuration_))) 
...
tfListener_.lookupTransform(fromFrameId, toFrameId,ros::Time(0), tmp);

cheers