Re: Difficulty when using external odometry

Posted by slam on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Difficulty-when-using-external-odometry-tp4347p4379.html

Thank you!

The cause is that the camera timestamp drifts over time. I believe it uses a internal clock that counts the time since the camera power up and is not really synchronized with the system.
Since my wheel odometry is published using the system timestamp, the delay gets bigger with time...