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rgbdslam subscribes to sync'ed color and depth images with a message filter. When transmitting via slow networks (includes WLAN) images may be dropped and the filter may be unable to find image pairs with approx. equal timestamps.

You wouldn't see this in rviz, because rviz doesn't do this synchronization.

Solutions:

• Lower the network load

  • reduce the frame rate of the openni driver
  • reduce the image resolution of the openni drive to qvga and use appropriate settings for rgbdslam (see the qvga launchfile). This will impede the map quality though.

• Or write a node that runs on the robot, subscribes to synchronized depth and color and relays only every nth pair