Re: icp_odometry with LOAM crash

Posted by huibuh on Sep 24, 2021; 10:51am
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8604.html

Hi,
I have pulled the latest update from rtabmap master (commit 5f6561) and done some more testing.

Using KITTI bag and wh200720041/floam with original test launch files, to make things reproducible:

roslaunch floam floam_velodyne.launch
rosbag play --clock 2011_09_30_0018.bag

... works as expected, rostopic hz /odom is published at 10Hz.

roslaunch rtabmap_ros test_velodyne.launch use_sim_time:=true resolution:=0.4 floam:=true
rosbag play --clock 2011_09_30_0018.bag

... works very badly: the trajectory is completely off, CPU load very high, and rostopic hz /rtabmap/odom is at only 5Hz.

Not sure what I am doing wrong here.

Cheers.
Heiko