How to disable visual odometry and use wheel odometry

Posted by kolohe113 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-disable-visual-odometry-and-use-wheel-odometry-tp4687.html

Hi! I followed the turtorial online to use wheel odometry+ lidar + Astra. However when I tried to set visual odometry to false, I get the following errors:
[ WARN] [1529511782.921630208]: Messages of type 1 arrived out of order (will print only once)
[ WARN] [1529511782.921790912]: Messages of type 3 arrived out of order (will print only once)
[ WARN] [1529511782.922869305]: Messages of type 1 arrived out of order (will print only once)
[ WARN] [1529511782.923065508]: Messages of type 3 arrived out of order (will print only once)
[ WARN] [1529511787.297097675]: /rtabmap/rtabmapviz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_raw,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /scan,
   /rtabmap/odom_info

With Visual Odometry on I got the following rqt graph:


Thank you