# Revision history [back]

Hi James, sounds weird. Have you looked into the logfile mentioned in the error message? Otherwise you would either need to run it in a debugger or fiddle a little with the code, as I cannot reproduce the problem.

Concerning the speed, you can have a look at the function "void GraphManager::sendAllClouds()" in graph_manager.cpp around line 1350. There the frequency of sending the transforms and clouds is throttled to 5 Hz in the line

ros::Rate r(5); //slow down a bit, to allow for transmitting to and processing in other nodes


You can set that any value.

You can omit sending of the cloud by removing (or commenting out) the following line:

graph_[i]->publish("/openni_rgb_optical_frame", now, batch_cloud_pub_);


Are you only interested in the current pose estimate or in the whole trajectory?

Hi James, sounds weird. Have you looked into the logfile mentioned in the error message? Otherwise you would either need to run it in a debugger or fiddle a little with the code, as I cannot reproduce the problem.

Concerning the speed, you can have a look at the function "void GraphManager::sendAllClouds()" in graph_manager.cpp around line 1350. There the frequency of sending the transforms and clouds is throttled to 5 Hz in the line

ros::Rate r(5); //slow down a bit, to allow for transmitting to and processing in other nodes


You can set that any value.

You can omit sending of the cloud by removing (or commenting out) the following line:

graph_[i]->publish("/openni_rgb_optical_frame", now, batch_cloud_pub_);


Are you only interested in the current pose estimate or in the whole trajectory?

Edit: I added the feature to send the current pose estimate after each processed frame. That means, you can just listen to the transformation from /map to /openni_camera and use the sending of the clouds only if you want to update the map. This doesn't fix the crash you mentioned though. Please download it here and report back whether that works for you.

Hi James, sounds weird. Have you looked into the logfile mentioned in the error message? Otherwise you would either need to run it in a debugger or fiddle a little with the code, as I cannot reproduce the problem.

Concerning the speed, you can have a look at the function "void GraphManager::sendAllClouds()" in graph_manager.cpp around line 1350. There the frequency of sending the transforms and clouds is throttled to 5 Hz in the line

ros::Rate r(5); //slow down a bit, to allow for transmitting to and processing in other nodes


You can set that any value.

You can omit sending of the cloud by removing (or commenting out) the following line:

graph_[i]->publish("/openni_rgb_optical_frame", now, batch_cloud_pub_);


Are you only interested in the current pose estimate or in the whole trajectory?

Edit: I added the feature to send the current pose estimate after each processed frame. That means, you can just listen to the transformation from /map to /openni_camera and use the sending of the clouds only if you want to update the map. This doesn't fix the crash you mentioned though. Please download it here and report back whether that works for you.

you. You need to replace the rgbdslam folder with the folder rgbdslam_dev-f4835f9e1e39 (i.e. rename the latter to the former) and rebuild.