Revision history [back]

Hi, thx for the bag. The /odom tropic is published at >500Hz and /laser_pointcloud is 1 Hz. The queue_size should be then around 500! approx_sync should be also true (false in your warning saying exact sync is used). The TF /odom -> /base_link seems to give a lot of Detected jump back in time of 0.000423494s. Clearing TF buffer. warnings. You could decrease odometry frame rate to 50 Hz or 20 Hz. With the following, I am still able to have a map:

$ roscore
$ rosparam set use_sim_time true
$ rosbag play --clock rotating_lidar_straight_pipe.bag
$ rosrun rtabmap_ros rtabmap -d _subscribe_depth:=false _subscribe_rgb:=false _subscribe_scan_cloud:=true scan_cloud:=/laser_pointcloud odom:=/odom  _approx_sync:=true _queue_size:=500