Posted by
sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p6289.html
Hi mathieu.
So...
We reinstall all on a new machine.
that's not work as well as on the old laptop and we don't really understand why.
after 30 image ID, rtabmap start showing this message on new PC:
[ INFO] [1560504701.068338570]: Odom: ratio=0.746964, std dev=0.037634m|0.037634rad, update time=0.099078s
[ WARN] [1560791253.260951213]: Could not get transform from Lidar to Lidar accordingly to odom after 0.100000 seconds (for stamps=1560791252.249110 -> 1560791252.942867)! Error="Lookup would require extrapolation into the future. Requested time 1560791252.942867056 but the latest data is at time 1560791233.089997952, when looking up transform from frame [odom] to frame [Lidar]. canTransform returned after 0.100979 timeout was 0.1.".
for the same image id, old laptop show:
[ INFO] [1560504701.068338570]: Odom: ratio=0.546964, std dev=0.037634m|0.037634rad, update time=0.040078s
the only difference we see is the average rate of Lidar/points topic (2.5hz on old laptop, 10 on the new PC)but don't know why (probably ethernet ports limit). So I assume RTABmap receive more data on new PC and don't manage them well in 0.1s.
We try all day to increase this 0.1s timout without success.
We change Rtabmap/TimeThr to 0.2.
we tried wait_for_transform to the same value.
we tried to set tf_tolerance too.
nothing works to increase this value.
How I can do?
db:
https://we.tl/t-RBocowk3QCcheers
stephane