Re: Costmap2DROS transform timeout

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Costmap2DROS-transform-timeout-tp4718p4743.html

Hi,

Why odometry can get lost is described on this page (see lost odometry section): https://github.com/introlab/rtabmap/wiki/Kinect-mapping#lostodometry

What is the framerate of visual odometry? at which rate odom messages are published.

You can enable auto reset of odometry at the latest known position with Odom/ResetCountdown set to 1.

When using "Odom/Strategy" to 1 (F2F), you can also enable Optical flow (Vis/CorType=1), which can gives more matches to track. For all kind of odometry, increasing "Odom/KeyFrameThr" (default 0.3) may help to have more matches between consecutive frames. Beware that creating more keyframes would decrease odometry accuracy.

For the tolerance problem, not sure the frame rate would change anything, as for the static map, move_base should be able to handle updates that are not frequent (even 1 each 10 seconds or 1 each minute). Can you track down more specifically (with help of rqt_console) where in move_base code the warning is thrown?

cheers,
Mathieu