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-tp8695p8776.html

Hi Mathieu,

I apologise for the late reply. Here are some key statistics from the database viewer:

There are no global loop closure detected


I graphed out some of the components that took the longest duration to complete:


I think it's intuitive to observe the upward trend in the computation time due to increasing number of working memory nodes, given that Rtabmap/MemoryThr and Rtabmap/TimeThr are unused. However, it seems like the sum of these time-consuming components (E.g. Occupancy Grid) are nowhere near the map_update time consumption. Is it expected for map_update time to escalate so rapidly? How does it get so high given the not-so-time-consuming subcomponents?

In case some of these images are hard to view on your side, feel free to take a look at them here: Google Drive Folder

I will post my rtabmap parameters used below.

Thanks alot,
Derek