Re: Errors on icp odometry

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Errors-on-icp-odometry-tp7546p7557.html

There is something strage with the /velodyne_points in the bag. It is like only the half of the cloud is published at the same time, instead of the full 360. Receiving two consecutive halves without overlap, it is likely that icp_odometry will get lost. To see this, open rviz to show /velodyne_points and set a delay of 0 (to only see last cloud). You will see the cloud flickering. Verify that the velodyne config matches the actual rotating speed set to velodyne.