Re: Latency troubleshooting with rtabmap-ros

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Latency-troubleshooting-with-rtabmap-ros-tp6939p6966.html

Hi,

Rtabmap/TimeThr won't make the processing time of a single frame going faster. If one frame takes 300 ms to process and Rtabmap/TimeThr is set to 100 ms, it will just make rtabmap to keep a very low number of nodes in the map.

The latency should indeed be 300 ms, not several seconds. Is it rtabmapviz lagging or rtabmap node? If it is rtabmapviz, look at the parameters in Preferences->3D rendering to decimate or voxelize more the point clouds.

Can you share a database of when the latency is starting to appear?