Re: Error when trying to run Rtabmap version ROS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-trying-to-run-Rtabmap-version-ROS-tp179p365.html

Hi,

The warnings in Rtabmap.cpp are normal, they are here for information that a loop closure is detected but a geometrical transformation cannot be computed to close the loop.

The Odom message tells that the rgbd_odometry node is running and is lost, but you don't need it on turtlebot if you use the odometry from the robot.

Well, this one is a problem:

[ INFO] [1430122938.480224562]: rtabmap: Update rate=1.000000s, Limit=0.700000s, RTAB-Map=1.815116s, Publish=0.000530s (18 local nodes)
[ WARN] (2015-04-27 10:22:18.480) MainWindow.cpp:961::processStats() Processing time (1,802294s) is over detection rate (1,000000s), real-time problem!

1.8 seconds for processing is quite high since the Time threshold seems to be set (Limit=0.7 second). Normally, the processing time should not be as much over 0.7 second (even always under the Update rate of 1 second). Is this happens very often? Can you copy/paste the launch file you are using?

Cheers