Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9655.html


What was the full error message for the ouster? Is it a TF extrapolation error?

The check about the first and last stamps is here: https://github.com/introlab/rtabmap_ros/blob/b3f33cef228357c87a61a76db712ad4c1b6cbf3d/rtabmap_conversions/src/MsgConversion.cpp#L2694-L2698

Based on your log messages, the firstStamp and lastStamp should have at least epoch timestamp of the header of the pointcloud. There is something wrong with "input.header.stamp".