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-tp8695p8788.html

Hi Mathieu,

matlabbe wrote

Which kind of sensors are you using?

I am currently using an Intel NUC as an external PC connected to my robot. It runs all nodes, from perception, to rtabmap, to ROS navigation stack. There's plenty of processing power left after running all nodes. I am using the ouster OS1-32 lidar to build the 2d map (Compressing 3d pointcloud to 1 plane using in-built rtabmap libraries), a Realsense D435 camera for mapData scene reconstruction & to perform global loop closures, and odometry coming from the robot itself.

matlabbe wrote

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.

I apologize, but I forgot to mention that i had an external launch parameter that sets Grid/3D to false as we are only generating 2d gridmaps for navigation via move_base. This parameters are tuned for outdoor navigation, so we had to increase Grid/RangeMax to 75 so that the robot can look much further to plan more efficient routes.

matlabbe wrote

When global map has to be updated (on graph optimization), it is likely to need large update times.

When you mentioned Graph Optimizations, are you referring to the yellow ICP links?

Any other insights for the long map update times?

P.s. I changed the permissions of the google drive folder so that everyone can see the screenshots I have taken. Here is the link again: Google Drive Folder

Thanks as always,
Derek