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/rtabmap/rtabmap: Did not receive data since 5 seconds!

asked 2021-06-08 13:39:44 -0500

Masoum gravatar image

hi everyone,

when i launch rtabmap in the mapping mode, i receive the following error: /rtabmap/rtabmap subscribed to (approx sync): /odometry/filtered \ /velodyne_points

i have checked the freq of these topics:

henry@henry-ThinkStation-P340:~$ rostopic hz /odometry/filtered subscribed to [/odometry/filtered] average rate: 49.320 min: 0.000s max: 0.046s std dev: 0.01729s window: 46

henry@henry-ThinkStation-P340:~$ rostopic hz /velodyne_points subscribed to [/velodyne_points] no new messages average rate: 1.993 min: 0.501s max: 0.502s std dev: 0.00025s window: 3

now, i dont know, what is the problem? what should i do to fix this problem?

Note: i have also checked the synchronization between my laptop and the robot, it works fine.

ros kinetic 16.04 python 2.7 I have installed rtabmap from source

thanks in advance

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answered 2021-07-14 09:19:21 -0500

matlabbe gravatar image

You may have to increase queue_size parameter. The default is 10, which means to be able to sync with 2 Hz lidar, it can only sync up to 20 Hz odometry. Increase queue_size to at least 25 (maybe 30 just to be sure) so it can sync 50 Hz odom.

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Asked: 2021-06-08 13:39:44 -0500

Seen: 29 times

Last updated: Jul 14