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-tp5841p5855.html

I am actually passing the rgbd odometry to a kalman filter node to be fused with other sensors. The odometry that goes to rtabmap is /Kalman/odometry/filtered. I haven't checked the timestamps but I doubt the filtered odometry would be synced with the camera topics, also because they're published at different rates (24 vs 30 Hz).
I'm still not using rgbd_sync though, without getting any errors. Does that mean that in this case rtabmap is automatically reverting back to approxymate synchronization?

Thanks for your patience!