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-tp8695p8752.html

Hi,

To know exactly what is required 7 sec to update, you can look at the Statistics/Timing inside the resulting database (you can browse those statistics with rtabmap-databaseViewer -> Statistics panel).

The grid_size parameter is used to initialize the size of the 2d occupancy grid. If the robot goes over the bound, the grid is automatically extended as usual. The newly extended map is published to move_base, which then updates its global costmap size (there is no feedback from global costmap to rtabmap).

I suspect that there is a global update (a loop closure has been detected) of the grid map internally to rtabmap, which requires rtabmap to rebuild the global map. I don't know the Grid/ parameters you are using, but if you use Grid/3D and local grids are large, this can take a while. See Table 10 of this paper for some examples of different Grid parameters.

cheers,
Mathieu