Re: Tips needed to improve on RTAB Mapping for legged Robots

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Tips-needed-to-improve-on-RTAB-Mapping-for-legged-Robots-tp7417p7858.html

Hi Derek,

The localization_pose is published only when rtabmap localizes on the map. If the rtabmap is logging at 1 Hz, it is not frozen.

1) Some parts of rtabmap are multi-threaded, like computing normals of point clouds. I see that you are using ICP registration with velodyne point clouds and Icp/VoxelSize=0.05. This is quite small for a jetson. For velodyne point clouds, I generally use Icp/VoxelSize=0.2 (indoor) to 0.5 (outdoor). To get details about cpu usage:

rtabmap-report \
   Timing/Total/ms \
   Timing/Proximity_by_space/ms \
   Timing/Posterior_computation/ms \
   Timing/Memory_update/ms \
   Timing/Neighbor_link_refining/ms \
   Timing/Likelihood_computation/ms \
   Timing/Add_loop_closure_link/ms \
   Timing/Map_optimization/ms  \
   rtabmap.db

2) When using rgbd_sync, it subscribes to realsense topic to force streaming them. You coudl compare with starting only realsense node, then open 2 terminals and subscribe (rostopic hz "topic name") to RGB and Depth topics to make the node working, and see wthat is CPU usage then.

cheers,
Mathieu