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Thanks @achille, good article. At the moment I dont have the issue anymore, likely it was due to rtabmap using up CPU and the updates didnt get polled fast enough but the node expected it. I got a lot of control-loop "took to long" warnings.

Thanks @achille, good article. At the moment I dont have the issue anymore, likely it was due to rtabmap using up CPU and the updates didnt get polled fast enough but the node expected it. I got a lot of control-loop "took to long" warnings.

Relevant read regarding odometry: link text

Thanks @achille, good article. At the moment I dont have the issue anymore, likely it was due to rtabmap using up CPU and the updates didnt get polled fast enough but the node expected it. I got a lot of control-loop "took to long" warnings.

Relevant read regarding odometry: ~~link text~~article

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