odom frame flickers when playing rtabmap with rosbag

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-flickers-when-playing-rtabmap-with-rosbag-tp228.html

Hi,

I recorded a rosbag using data throttled topics with the robot, using kinect, odometry and depth_to_laser_scan.

$ rosbag record /data_throttled_image/compressed /data_throttled_image_depth/compressedDepth /data_throttled_camera_info /tf /odom /scan

When playing the rosbag , for half of the bag file the mapping is nice, later, the odom frame from where the robot started, starts to ficker and move around. This causes the point cloud to move a lot. However, the  map matching and ICP is not affected and loop closure is good.
My tf parameters are properly defined and when mapping real time, this does not happen. Only while playing back the rosbag this problem occurs.

What might cause the shifting of the odom frame?

Thanks

Alex