Re: Did not receive message for 5 seconds, but message are published.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Did-not-receive-message-for-5-seconds-but-message-are-published-tp9786p9813.html

The ouster is not using host clock, but its own starting at 0. You will have to configure the ouster to use time from ethernet device (PTP sync).

Here the time of the ouster:

ros2 topic echo /ouster/points --no-arr
header:
  stamp:
    sec: 60
    nanosec: 857867360
  frame_id: os_lidar
height: 32
width: 1024
fields: '<sequence type: sensor_msgs/msg/PointField, length: 9>'
is_bigendian: false
point_step: 48
row_step: 49152
data: '<sequence type: uint8, length: 1572864>'
is_dense: true

Here the time of the images received at "same" time than the ouster msg above:

ros2 topic echo /camera/color/image_raw --no-arr
header:
  stamp:
    sec: 1700559427
    nanosec: 943689697
  frame_id: camera_color_optical_frame
height: 480
width: 640
encoding: rgb8
is_bigendian: 0
step: 1920
data: '<sequence type: uint8, length: 921600>'

They cannot be synchronized together for that issue.

On a side note, these seem to give better lidar odometry (PMOutlierRatio should not be as low as under 0.5, unless it is a very dynamic environment):

'Icp/PMOutlierRatio', '0.6',
'Icp/ReciprocalCorrespondences', 'true',
'OdomF2M/ScanSubtractRadius', '0.1',
'OdomF2M/ScanMaxSize', '20000',