search

introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
Other
2.6k stars 761 forks source link

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. #1279

Open qetuo105487900 opened 1 month ago

qetuo105487900 commented 1 month ago

Screenshot from 2024-05-09 00-09-54 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 Screenshot from 2024-05-09 00-09-24

qetuo105487900 commented 1 month ago

this is set Rtabmap/DetectionRate as default 1 Screenshot from 2024-05-10 00-40-11 the rate only 0.8 hz

this is set Rtabmap/DetectionRate as 30 Screenshot from 2024-05-10 00-40-29

the rate only 4.x hz

matlabbe commented 1 month ago

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: https://github.com/introlab/rtabmap/issues/1277#issuecomment-2106397873