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# System prepended metadata

title: Big Rosbag Flickering

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# Big Rosbag Flickering

## Rosbag File problem

![Original Rosbag File](https://i.imgur.com/VXluJ7O.png)

![Cropped Rosbag File](https://i.imgur.com/DFgwz4q.png)

## SENSR Problems

- Rosbag Player inside Argos is too slow
    - Some points are skipped to stay in sync with the rosbag play time
        - Increasing the `RosbagSyncConstants::kTransitionEpsilon` helps but does not fix the original problem
    - Parallelization of the rosbag player


- Wrong parameter `Minimum Pending Time [s]` set to 100 ms
    - Set to 10 ms
        - More points -> preprocessing overhead is getting  above the firing time from time to time
            - Set the number of preprocessing thread from 1 to 10
                - **The flickering does not appear anymore**

## TODO

- [ ] Check the no points issue by increasing the pre-parsed time