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

Posted by cjsurjadi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Did-not-receive-message-for-5-seconds-but-message-are-published-tp9786p9816.html

Hi there,

Thanks for the help. I managed to solve the problem by launching the ouster driver node with the parameter `'timestamp_mode':'TIME_FROM_ROS_TIME'. This makes the Ouster lidar publish in ROS epoch time, and the messages can thus be synchronized. Rtabmap is working well now. However, I see that rtabmap becomes slower. From the logs, I can see the RTAB-Map process even going up to 1.90s, especially as the map turns larger. Is there any parameters that I can tune to improve this problem? Or can I set the loop closure detection to be slower (e.g. every 3 seconds) while the localization can stay faster?