Re: Problems with launch and mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-with-launch-and-mapping-tp6808p7215.html

The voxel warning happens when the voxel size is too small for the point cloud, so that indices will overflow. Voxel size should be then increased.

Voxel can be indeed done only when exporting. However, setting Icp/VoxelSize will help to increase ICP speed and convergence.

Not sure which database you want me to check, but for Good_quality_1st_pass.db, there is something very wrong with the odometry. If you can record a rosbag of the ouster alone and share the launch file (does the one above changed?), it will help to debug the odometry:

rosbag record /tf /tf_static /os1_cloud_node/imu/data /os1_cloud_node/points 

cheers,
Mathieu