Re: Troubleshooting mapping with kinect v2, rplidar and jetson tx2

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Troubleshooting-mapping-with-kinect-v2-rplidar-and-jetson-tx2-tp5517p5598.html

Hi,

In my example, rgbd_sync is publishing under "/rtabmap/rgbd_image" topic, so rtabmap should subscribe to "/rtabmap/rgbd_image/compressed" to get the compressed topic over the network.

When you do "$ rostopic hz /rtabmap/rgbd_image/compressed", you actually open a new image streaming, which can affect bandwidth. You may compare between "rostopic hz /rtabmap/rgbd_image/compressed" done on jetson vs remote computer and see if there is a frame rate difference. If so, it is a bandwidth problem.

Is rtabmap running over WIFI or LAN? Can you show network usage on remote computer (System Monitor)?

When you say that the header is not always set in rgbd_image topic, do you mean if you do

$ rostopic echo /rtabmap/rgbd_image/compressed/header

the stamp and frame_id are sometime null?

cheers,
Mathieu