The issue of Remaining work items in queue

[huangshuqing]

Hello，
I use a VLP16 laser and a xsens imu. when I run cartographer 3D with pure Localization in a Given Map, I always meet the issue of remaining work items in queue，such as "Remaining work items in queue: 17893". The size of queue frequently reaches tens of thousands. From my personal point of view, If the parameters are tuned well, the value should be 0. However, How can I continue to tune the parameters, can you give me some advice?

[huangshuqing]

@SirVer @damienrg @wjwwood @damonkohler

[Yu-Xiaoxian]

This tips in cartographer_ros about low lantency of Global SLAM may helped.
Tuning methodology

[huangshuqing]

thanks, I have solved it.

[Yu-Xiaoxian]

How did the problem get solved, would you like to share your experience?

[ghost]

yeah, how did you solve it? I have a similar issue.
in general: What is a work item and what can help to increase its processing speed?

• increase number of background threads?
• ...? Running out of ideas (dont want to reduce other "quality" parameters inside the lua files)

[MichaelGrupp]

Work items are for example constraint searches and optimization steps. Following the tuning guide can help - e.g. if you decrease the constraint builder sampling ratio there will be less constraint searches enqueued (which are a costly operation and usually shouldn't be done for every node, thus sampling).

[JaredLee1218]

@huangshuqing
Hi, would you like to share your result Please..T ^ T