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-tp8695p8777.html

Here are my parameters. Thanks alot for looking through!

# # Parameters to be loaded into rtabmap.launch


################################### RTABMAP CORE MODULE ###################################

rtabmap:

  #  Sensor Input Parameters 
  frame_id: base_link
  subscribe_depth: false        
  subscribe_rgbd: true

  # Output Params
  queue_size: 30                     # Increase if topics frequencies are different
  Mem/BinDataKept: true              # Whether to store depth cloud from RGBD Camera, useful for debugging (Turn off to up FPS) 

  # 3D Map vs 2D Map
  Grid/RayTracing: true              # done for each occupied cell, filling unknown space between the sensor and occupied cells. 
  Grid/NormalsSegmentation: false    # Simple ground segmentation for 2D localization (NOTE: For outdoors, set NormalsSegmentation = True)
  Grid/MaxGroundHeight: 0.70          # (m) Everything below xx is Ground 
  Grid/MaxObstacleHeight: 0          # (m) Everything below xx is Obstacle [0 to ignore] - (1.0m to remove ceiling in office)
  Grid/RangeMax: 75                 # (m) Max Range of Laserscan to add to Map 
  Grid/CellSize: 0.1                # (m) Resolution of Map
  Grid/PreVoxelFiltering: true      # Whether to turn on voxel filter on input cloud (NOTE: Might be done on perception module)

  # Rate (Hz) at which new nodes are added to map
  Rtabmap/DetectionRate: 2

  # RTAB-Map's parameters
  RGBD/NeighborLinkRefining: true    # Correct odometry using the input lidar topic using ICP
  RGBD/ProximityBySpace: true        # Find local loop closures based on the robot position in the map. 
  RGBD/AngularUpdate: 0.01           # Map update Rate (Angular)
  RGBD/LinearUpdate: 0.01            # Map update Rate (Linear)
  RGBD/OptimizeFromGraphEnd: false   # FALSE: on loop closures the graph will be optimized from the first pose in the map
  RGBD/ProximityPathMaxNeighbors: 10 # Use 10 if Reg/Strategy is using ICP
  Grid/FromDepth: false              # FALSE: the occupancy grid is created from the laser scans (rather than RGBD Cam's pointcloud)
  Reg/Force3DoF: true                # roll, pitch and z won't be estimated.
  Reg/Strategy: 1                    # 0=Visual, 1=ICP, 2=Visual+ICP
  Mem/NotLinkedNodesKept: true       # Keep not linked nodes in db (rehearsed nodes and deleted nodes).
  RGBD/SavedLocalizationIgnored: true # Don't always initialize at last location of previous session

  # Graph Optimizer (during loop closure)
  Optimizer/Strategy: 2              # 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres
  Optimizer/Robust: false            # If True, Robust graph optimization using Vertigo
  RGBD/OptimizeMaxError: 6           # Reject loop closures if optimization error ratio is greater than this value (0=disabled)

  # 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 
  Kp/DetectorStrategy: 2             # KEYPOINT DETECTOR
  Vis/FeatureType: 2                 # KEYPOINT DESCRIPTOR (Features)
  Kp/MaxFeatures: 500                # (Default: 500) Maximum features extracted from the images (0 means not bounded, <0 means no extraction)
  Vis/MinInliers: 15                 # Minimum visual inliers to accept loop closure
  Kp/MaxDepth: 4.0                   # Max depth for keypoints stored as vocabulary (m)
  Vis/MaxDepth: 4.0                  # Max depth for features stored as vocabulary (m)
  Kp/MinDepth: 0.5                   # Min depth for keypoints stored as vocabulary (m)
  Vis/MinDepth: 0.5                  # Min depth for features stored as vocabulary (m)

  # ICP parameters
  Icp/VoxelSize: 0.5                # (DEFAULT: 0.0)  How much to downsample pointcloud / laserscan
  Icp/MaxCorrespondenceDistance: 0.5  # (DEFAULT: 0.1)  Max distance for point correspondences
  Icp/MaxTranslation: 0.5            # (DEFAULT: 0.2)  Maximum ICP translation correction accepted (m)
  Icp/MaxRotation: 2                 # (DEFAULT: 0.78) Maximum ICP rotation correction accepted (rad)
  Icp/Iterations: 10                 # (DEFAULT: 30)   Number of iterations ICP will attempt to converge to solution
  Icp/PM: true                       # (DEFAULT: true) Use libpointmatcher for ICP registration instead of PCL's implementation
  Icp/PMOutlierRatio: 0.6            # (DEFAULT: 0.95) TrimmedDistOutlierFilter/ratio
  Icp/PMMatcherKnn: 3                # (DEFAULT: 1)    Number of nearest neighbors to consider it the reference
  Icp/PMMatcherEpsilon: 1            # (DEFAULT: 0.0)  Approximation to use for the nearest-neighbor search
  Icp/CorrespondenceRatio: 0.1       # (DEFAULT: 0.1)  Ratio of matching correspondences to accept the transform
  Icp/Epsilon: 0.00001                # (DEFAULT: 0.00001) Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution
  Icp/PointToPlaneK: 5               # (DEFALT: TRUE)  Use point to plane ICP
  Icp/PointToPlaneRadius: 1.0        # (DEFAULT: 1.0)  Search radius to compute normals for point to plane if the cloud doesn't have already normals