Re: Mapping performance and hallway problems with Kinect 2

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-performance-and-hallway-problems-with-Kinect-2-tp3956p3964.html


2) You may try "$ rostopic hz /kinect2/data_throttled_image/compressed" on remote computer to see what is the actual rate received.

You can use rtabmapviz part of your launch file or RVIZ on remote computer to see mapping results. You can remove subscribe_depth from rtabmapviz node (without rgb/depth/camera_info topics) to avoid subscribing to image data, thus saving bandwidth.

Yes, ntpdate.

cheers,
Mathieu