Build a map with the image transformed wirelessly

Posted by JaneLee on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-a-map-with-the-image-transformed-wirelessly-tp364.html

Hello:
     I am trying to use the rtabmap in the quadrotor, my idea is transform the image received by kinect wireless to the ground station. The quadrotor has a onboard computer. The ground station was set as master.  My router bandwidth is 500M(5g Hz). I use the "rostopic hz" command to test the frequency, it was about 10 Hz. But when I launch the rtabmap_ros rgbd_mapping.launch file, the update frequency is very slow. The output is as follow:

[ INFO] [1430133432.112759461]: Odom: quality=103, std dev=0.002801m, update time=0.012454s
[ WARN] [1430133432.123428080]: Lookup would require extrapolation into the future.  Requested time 1430133432.357551120 but the latest data is at time 1430133432.121763074, when looking up transform from frame [camera_rgb_optical_frame] to frame [base_link]
[ INFO] [1430133432.130238308]: rtabmap: Update rate=1.000000s, Limit=0.000000s, RTAB-Map=0.016682s, Publish=0.000446s (1 local nodes)
[ WARN] [1430133432.258978169]: Lookup would require extrapolation into the future.  Requested time 1430133432.489575084 but the latest data is at time 1430133432.121763074, when looking up transform from frame [camera_rgb_optical_frame] to frame [base_link]
[ WARN] [1430133432.437728873]: Lookup would require extrapolation into the future.  Requested time 1430133432.657540336 but the latest data is at time 1430133432.121763074, when looking up transform from frame [camera_rgb_optical_frame] to frame [base_link]
Could you please give me some advices?Thank you!