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-tp8695p8784.html

Hi,

  Grid/RayTracing: true             # done for each occupied cell, filling unknown space between the sensor and occupied cells. 
  Grid/RangeMax: 75                 # (m) Max Range of Laserscan to add to Map 
  Grid/CellSize: 0.1                # (m) Resolution of Map

Which kind of sensors are you using? a 75 meters local grid at 10 cm cell size in 3D with ray tracing, it will create very large local grids. When global map has to be updated (on graph optimization), it is likely to need large update times. In which kind of environment are you navigating? For indoor, you could decrease the Grid/RangeMax to 10 meters at most.

cheers,
Mathieu