Re: Mysterious error regarding tf timeout

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mysterious-error-regarding-tf-timeout-tp8695p8708.html

Hi,

This warning will appear when rtabmap gets TF odom->base_link with the stamp from the odometry topic received, and TF has not been yet updated at that time, or it is too old (which seems in the case here). For example, if TF on external pc is currently updating at time 30 sec, but it received an odometry topic with stamp at 20 sec, which is 10 sec in the past, we get this error. I think the default TF buffer size is 5 seconds, so old TFs have been already flushed before the topic is processed. I don't think it is a database issue, but more a time synchronization issue. You can try to echo your odometry topic on remote pc and check at the same time the logs and see if there is a large difference.

cheers,
Mathieu