Re: Latency troubleshooting with rtabmap-ros

Posted by matlabbe on Oct 17, 2020; 9:31pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Latency-troubleshooting-with-rtabmap-ros-tp6939p7043.html


To better see the odometry local map, in Preferences->3D Rendering, uncheck Map's Cloud and Scan rendering. Keep only Odometry's scan rendering. Then click in 3D Map view, tap on "2" key on your keyboard. The color layout will change to Pink=latest scan and Blue=Local odometry map.

With F2M, you can play with OdomF2M/ScanMaxSize (default 2000) to keep a larger local map, Odom/ScanKeyFrameThr (default 0.9) to trigger less or more often an update of the local odom map. In general I would  set OdomF2M/ScanSubtractRadius to same value used to voxelize the scans. Make sure you voxelize your scans (or set Icp/VoxelSize).

In your case, the odometry got lost when looking at the flat wall. This is an issue with ICP, make sure to have always geometry in the field of view of the camera.

cheers,
Mathieu