Re: Costmap2DROS transform timeout

Posted by drishti_works on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Costmap2DROS-transform-timeout-tp4718p4720.html

Hi Matthieu,

Just to give you an update. We were able to increase to tolerance to 5seconds, and that allowed move_base to function.

However, we realised that Visual odom from RTAB Map was not being done very well, we would keep loosing Visual odom.

We tried the following tweaks:
1) Changed from F2M to F2F
2) Instead of GFTT we used FAST/BRIEF (tried all the others as well)

However, we are still loosing visual odom pretty easily.
There were a lot of feature points in our enviornment (whenever visual odom worked, we got a quality reading of 200+). But, once we lost visual odom, we needed to track back to the place that we were, even though the environment was known, and there were enough feature points.

Thus, request if you could guide us on:
1) Fixing the tolerance issue, without requiring the tolerance to be at 5 seconds (improve the publishing rate of RTAB Map)
2) How do we maximize the performance of the visual odom
3) How do we regain visual odom irrespective of where we lost it.

Thank you.