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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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ICP Odometry stops and resumes #1165

Closed anath93 closed 5 months ago

anath93 commented 5 months ago

Hi Mathieu,

Been testing since few hours and cannot understand why this would happen all of sudden, as this was not a issue on previous release and CPU frequency does not seem to be issue. Running ICP odometry alone seems to be okay, using guess tf frame outputs on /diagnostics topic as frequency too low for split sec and then resumes. image

image

Then after couple secs, image

Launch file: image image

Can guess_min_time be set in this condition or min_update_rate ?

anath93 commented 5 months ago

I will close this topic, as it was related to new version of linuxptp which is causing clock to reset and causing header timestamps jump. If anyone come across this, currently fixed by using ptpd instead of linuxptp (Further testing, rebase linuxptp to v2.0 for 5.15 kernel)