it is possible to increase the frequency of map -> icp_odom/odom to 200 or more!!! or increase the frequency of localization. i can't do path follow on the correct path.

[qetuo105487900]

based on rtabmap the frequency map -> icp_odom/odom only 20 that too slow

at least, like cartographer the frequency map -> icp_odom/odom only has 195

[qetuo105487900]

this is set Rtabmap/DetectionRate as default 1

the rate only 0.8 hz

this is set Rtabmap/DetectionRate as 30

the rate only 4.x hz

[matlabbe]

With Rtabmap/DetectionRate=30, if output is ~4Hz, it means rtabmap node requires ~250 ms to process on your system.

for icp_odom -> odom, icp_odometry won't publish faster than input data or could be limited by computer power. If you use a lidar at 10Hz, if icp_odometry is 10 Hz, it means it doesn't drop any frame and is processing as fast as it can.

For map->icp_odom, the default is 20 Hz, but you can make it arbitrary any rate by setting tf_delay to 0.005 for 200 Hz (default 0.05 or 20 Hz). See also answer here: #1277 (comment)