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-tp8695p8740.html
Hi
Yup, just checked to ensure that the Ouster lidar is PTP time synced. I played around with some rtabmap parameters and came to realise that I've set the queue_size to 100, even though my camera frequency (30Hz), Lidar frequency (10Hz), Odom frequency (15Hz) are all rather low. Setting queue size to around 10 resolves that issue.
Once this problem was resolved, I quickly noticed another issue. In SLAM mode, after perhaps 200s of robot moving around at 0.5m/s, mapping frequency slows down significantly (from ~0.03s to 4s). This is despite rtabmap frequency being low (around 0.5s). From some of the forum post, I saw that this might be a timesync issue. It's weird because this error blows out of proportion only when the robot has moved for 200s. Being stationary is fine, peessumably because no mapping is done when stationary. Parameters like odom_sensor_sync freezes rtabmap. I wonder if you have any insights? Thanks!
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mysterious-error-regarding-tf-timeout-tp8695p8740.html
Hi
Yup, just checked to ensure that the Ouster lidar is PTP time synced. I played around with some rtabmap parameters and came to realise that I've set the queue_size to 100, even though my camera frequency (30Hz), Lidar frequency (10Hz), Odom frequency (15Hz) are all rather low. Setting queue size to around 10 resolves that issue.
Once this problem was resolved, I quickly noticed another issue. In SLAM mode, after perhaps 200s of robot moving around at 0.5m/s, mapping frequency slows down significantly (from ~0.03s to 4s). This is despite rtabmap frequency being low (around 0.5s). From some of the forum post, I saw that this might be a timesync issue. It's weird because this error blows out of proportion only when the robot has moved for 200s. Being stationary is fine, peessumably because no mapping is done when stationary. Parameters like odom_sensor_sync freezes rtabmap. I wonder if you have any insights? Thanks!
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