Re: Mysterious error regarding tf timeout

Posted by derektan1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mysterious-error-regarding-tf-timeout-tp8695p8736.html

Hi Mathieu,

Thanks for your insights. Just to clarify, do you mean that the timestamp of the odom->base_link tf must be exactly synchronized with the odometry message itself? I followed this tutorial to publish both tf and odom topic message at the exact same rate from the internal computer inside the robot, which is then subscribed by Rtabmap node on the external computer.

http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom

On a sidenote, I made sure that both internal and external computers are synced perfectly using Chrony.

Very interestingly, I isolated the issue to the pointcloud input into rtabmap. If I were to significantly downsample my pointcloud (Ouster OS1-32) using passthrough and voxel filters, I won't have this error. I only face this error when I input pointcloud with minimal filters (many points). I find this a very weird error indeed.  I definitely did not face this problem when using the Velodyne VLP16.

Thanks,
Derek