PointCloud2 frame oscillates when viewed in RVIZ

Posted by asabet on
URL: http://official-rtab-map-forum.206.s1.nabble.com/PointCloud2-frame-oscillates-when-viewed-in-RVIZ-tp4844.html

In a possibly related issue, if I display the PointCloud2 topic, I get the local pointcloud estimate that oscillates between two regions:





Why is this? How can I debug this issue?

My launch files for stereo_odometry and rtabmap: