wakoko79

I found the issue. Old code (OccupancyGrid class) transforms occupancy value [0, 100] to a grayscale value of [0, 255]; current code directly uses occupancy value to get RGBA values...

> Related PRs: #235, #339 and #343. > > I think we both agree the alpha channel is the problem here. But the problem is that the colour is inverted...

@matlabbe I also am experiencing this warning in ROS1 (rtabmap 0.21.4). **And I traced it**. In my case of using approximate sync, I found out that the synchronizer (`message_filters::Synchronizer`) _callback_...

I also tried to hard code the queue size of the synchronizer policy. I tried `QUEUE_SIZE = 1` but it doesn't work, it is not calling the callback `depthScan3dCallback()` at...

> What is the frame rate of all topics? If `ptcld` is slower, `queue_size` should be large enough so that `message_filters` can buffer enough images to synchronize. Here: ``` topic...

Can anyone clarify how the current gearbox model works? The explanation is not very helpful, and there are no tutorials on the gearbox joint. [link](http://sdformat.org/spec?elem=joint&ver=1.7) `Parameter for gearbox joints. Gearbox...

> Do you tell me that all this time that [example](http://wiki.ros.org/message_filters#Example_.28C.2B-.2B-.29-1) was wrong?! No. What I'm saying is it is not good to make a singular `queue_size` parameter to feed...

@matlabbe BTW, I made a threaded version of the callbacks to keep the time spent in the Synchronizer callback minimal. This will make rtabmap_ros ignore newer input data coming from...