Re: I am currently using RealSense L515 and successfully build rtabmap-ros and rtabmap then this problem occur.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/I-am-currently-using-RealSense-L515-and-successfully-build-rtabmap-ros-and-rtabmap-then-this-problem-tp9519p9523.html

Hi,

That warning says that the synchronized topics have large difference in time, so results would be less accurate because of this.

You may try setting "approx_sync_max_interval" smaller than 0.01 to sync only frames that are close in time and reject those with large difference. Otherwise, to remove that warning you would need to change the code as the threshold is hard-coded:
https://github.com/introlab/rtabmap_ros/blob/7d84f83d96fbb4e3f9bb4794275504c176feaca8/rtabmap_sync/src/nodelets/rgbd_sync.cpp#L154

cheers,
Mathieu