didn't map after a keyframe

[bubble-yue]

hi @koide3 ! when I run order rosbag play --clock hdl_501_filtered.bag, it always putout the infomation streams like the following .

[ INFO] [1539071090.720670900, 1503376943.796794021]: scan matching has not converged!!
[ INFO] [1539071090.720959628, 1503376943.796794021]: ignore this frame(1503376924.384562000)

as for the map, only one pose and one keyframe map can be seen in the rviz. I think the scanmatching nodelet may doesn't work. I guss cI must do something wrong. Hope you can give some suggestion and help me to figure out why such infomation streams will be putout. Thank you!!

[koide3]

hi @bubble-yue,

Can you try to:

• play the bag with a slow speed? rosbag play --clock -r 0.1 *.bag
• use the docker environment?

And could you report your PC spec? In case it doesn't have enough computation power, it would fail to run scan matching real-time.