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localization delay time too long when moving. how to increase the publish frequency. please help me !!!! #1277
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i want to go to r317-1 2024._11_36_17_PM_.Copy.mp4the costmap is reatime but the tf from tf is long time ago's pose |
if i only use 3d lidar and wheel odom to do slam, rtabmap can increased the map -> odom frequency on localization mode to maybe 100 or 200 hz ? |
Try also Are the two computer clocks synchronized? |
hello, @matlabbe . |
at this video 0:02, can see. i turn left, but the tf which localizate on map delay for a long time. |
2024._8_19_50_am_.copy.720p.mp4the left side is rtabmap/localization_pose topic |
What is the processing time shown in rtabmap log? It seems there is a 2 sec delay, meaning 2 sec processing time? If so, so tuning about ICP parameters may be needed to use less points for localization. Can you launch rtabmap node with "--udebug" argument and show log of one update here? |
sorry, i launch rtabmap node with "--udebug" argument , but where is the log path? |
by the way, i try yesterday, |
If you start the node with If you are using |
i run sensor on robot, and run rtabmap on my computer like this:
i use this parameter on demo_husky.launch
its delay time is too long that can't deliver my destination with path follow
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