Difficulty when using external odometry

Posted by slam on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Difficulty-when-using-external-odometry-tp4347.html

Hello,

I am trying to run rtabmap built from source with external odometry (first trying it with only wheel odometry), but the mapping has a big delay and some overlappings, especially while turning.
I am using RealSense ZR300 (with depthcloud_to_depthimage) mounted on a small robot.

rosbag: https://drive.google.com/file/d/164PW2ljDI17JQWJx_fgNmkvzXGOLj19Z/view?usp=sharing

launch file: https://drive.google.com/file/d/15cIqIFO7NxcDTfkAau0sRmhoiHNiFys5/view?usp=sharing

database: https://drive.google.com/file/d/10k0CaswRSJ2P73aVWe9cJY6P9AMirjSV/view?usp=sharing

Could you tell me what causes this problem and what can be done to improve the mapping quality?
Thanks