Scan over maximum points

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Scan-over-maximum-points-tp5281.html

Hi,

I am running a bag file with ROS kinetic and the following error messages are produced frequently on the terminal screen.
Can you explain how can I solve this or what this message suggests. The messages appear sometimes in the terminal.

LaserScan.cpp:243::LaserScan() The number of points (1081) in the scan is over the maximum points (1080) defined by angle settings (min=-2.356194 max=2.356194 inc=0.004363). The scan info may be wrong!

Another error message is due to G2O and sometimes it corrupts the map building process.

[ERROR]OptimizerG2O.cpp:710::optimize() Computing marginals: vertex 151 has negative hessian index (-1). Cannot compute last pose covariance.

Thanks