Re: Did Not Receive data within 5 secs

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Did-Not-Receive-data-within-5-secs-tp7626p7633.html

Hi,

a queue_size of 1000 is quite huge. With the rates you shown, the default queue_size of 10 should have worked. I would recommend to use rgbd_sync to pre-sync zed images together into a rgbd_image before rtabmap node. An example of this can be found here.

While all your topics are published, to last thing that could block ros synchronizer to get the topics is that if there are topics with null timestamp. In particular, check in /bf_lidar/points_raw if there is a valid timestamp.

EDIT: and as explained in the warning, check also if the timestamps are from the same clock, otherwise if from different computers, synchronize their clocks.

cheers,
Mathieu