Revision history [back]

The only answer I can think of right now is that the approximate time synchronizer fails because of lag. Ways to possibly solve this, sorted by required effort:

• Set the "subscriber_queue_size" to a higher value.
• have rgbdslam reconstruct the point cloud -> use an empty topic for parameter "topic_points". The two images are quicker sent than the 10Mb cloud.
• If this fails, try setting compressed image transport. I have never tried this though.
• If that fails too, you can modify the constructor in openni_listener, so that it can listen to point_cloud only data. Then copy and modify the stereoCallback s.t. it reconstruct the rgb image from the cloud.

If it's not the time sync, I don't know what would be causing this. There is nothing special about the listener code apart from that.