Re: Clarification about the input synchronization step

Posted by 1fabrism on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Clarification-about-the-input-synchronization-step-tp5841p5843.html

The RealSense ROS package offers a parameter called "enable_sync" which I set to True and already syncs the camera topics to the same timestamp. So as I understand I don' t need RTAB-Map's own rgbd-sync nodelet. Indeed I'm not using it and I set approx_sync to false in both rgbd_odometry and rtabmap nodes, and it works.

My parameters:
approx_sync=false
odom_frame_id=""
subscribe_rgbd=false
(complete list from my launch file here: https://pastebin.com/hBj2KVpL)

So does this mean that the way I set it up RTAB-Map only creates a map node if and only if the filtered odometry and camera topics have the exact same timestamp? Because it doesn't seem to be this way, as I'd imagine it would take forever for a new node to be created while in reality it's 1 Hz frequency.