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laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
http://wiki.ros.org/loam_velodyne
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frequency drop problem of topic "/aft_mapped_to_init" #108

Open ahandsomeperson opened 5 years ago

ahandsomeperson commented 5 years ago

@laboshinl Hi! I met a bug now in the LaserMapping node. The bug is that the frequency of topic "/aft_mapped_to_init" is getting lower and lower. At the beginning, it is about 5hz. But when I run a VLP16 dataset over 30 minutes, this frequency became 3hz at last. I want to use "/aft_mapped_to_init" as the input of my system. But I have no idea about how to solve the frequency drop problem. My CPU is i7 8750hq. My system is Ubuntu 16.04. How can I get rid of this problem? Thanks!