# Revision history [back]

For rtabmap node, try with approx_sync:=false. You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries):

$sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
$cd ~/catkin_ws/src$ git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git$ cd ~/catkin_ws
$catkin_make  For rtabmap node, try with approx_sync:=false. as you are using stereo data (which should be exactly synchronized). You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries): $ sudo apt remove ros-$ROS_DISTRO-rtabmap-ros$ cd ~/catkin_ws/src
$git clone -b$ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
$cd ~/catkin_ws$ catkin_make


For rtabmap node, try with approx_sync:=false as you are using stereo data (which should be exactly synchronized). You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries):

$sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
$cd ~/catkin_ws/src$ git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git$ cd ~/catkin_ws
$catkin_make  For rtabmap node, try with approx_sync:=false as you are using stereo data (which should be exactly synchronized). You can also try to increase the queue_size. Note also that on Noetic, we got some issues with message_filters not able to synchronize some topics for some unknown reasons. We did a fix recently to set the queue_size of individual subscribers (which was 1 before like in this tutorial) with same queue_size of the sync policy. This fix is not in binaries yet, you would have to build rtabmap_ros from source (the devel branch matches the binaries):source: $ sudo apt remove ros-$ROS_DISTRO-rtabmap-ros$ cd ~/catkin_ws/src
$git clone -b$ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
$cd ~/catkin_ws$ catkin_make


If you have compilation errors with rtabmap library, you will have to build rtabmap from source too:

$sudo apt remove ros-$ROS_DISTRO-rtabmap
$cd ~$ git clone https://github.com/introlab/rtabmap.git
$cd ~/rtabmap/build$ cmake ..
$make -j4$ sudo make install


Then go back try building your catkin workspace.