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-tp8695p8741.html

Hi,

I don't see well the screenshot (too low resolution), but if mapping is taking 4 sec, there is a problem. What is the computer used? Also depending on the configuration, you may have to downsample the ouster point cloud. There is probably some tuning to do to use less power. You can take a look at the velodyne or ouster example (you can skip icp_odometry part if you don't use it):
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_velodyne.launch
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_ouster_gen2.launch

cheers,
Mathieu