Re: Latency troubleshooting with rtabmap-ros
Posted by Alan on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Latency-troubleshooting-with-rtabmap-ros-tp6939p7010.html
Suddenly my latency issues stopped and I am close to having very nice ICP odometry with the L515. I am still trying to troubleshoot some problems.
In the linked video here, I am resuming after triggering a new map and resetting odometry. You will see that the first frame added to the map has a dense amount of points added to the map, and since I am doing F2M odometry, the pose is very stable when I have the camera facing that first section of map. For some reason subsequent frames do not add nearly as many points, except for on rare occasion. I can't figure out what is causing this behavior.
https://youtu.be/lz3Xp3H-fC4
Here is my rqt_graph to give you a better idea of my setup:
I think if it updated the map with the full scan every frame it would be working perfectly. Any idea what I did wrong?
A
URL: http://official-rtab-map-forum.206.s1.nabble.com/Latency-troubleshooting-with-rtabmap-ros-tp6939p7010.html
Suddenly my latency issues stopped and I am close to having very nice ICP odometry with the L515. I am still trying to troubleshoot some problems.
In the linked video here, I am resuming after triggering a new map and resetting odometry. You will see that the first frame added to the map has a dense amount of points added to the map, and since I am doing F2M odometry, the pose is very stable when I have the camera facing that first section of map. For some reason subsequent frames do not add nearly as many points, except for on rare occasion. I can't figure out what is causing this behavior.
https://youtu.be/lz3Xp3H-fC4
Here is my rqt_graph to give you a better idea of my setup:
I think if it updated the map with the full scan every frame it would be working perfectly. Any idea what I did wrong?
A
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