Hey @jamiek,
If this error occurs, it will result in no map generation at the time of error. This is because we need to grab a pose from our ringbuffer (at the timestamp of our pointcloud) in order to insert each pointcloud correctly into the map.
This is caused by either voxl-qvio-server or voxl-vision-px4 not properly publishing a pose estimate.
You can monitor the output of voxl-qvio-server using voxl-inspect-qvio on voxl or viewing the qvio overlay in voxl-portal. If everything looks good there and qvio is properly publishing pose info, the next place to check is voxl-vision-px4.
This error means that we are not receiving a fixed pose data out of voxl-vision-px4, so once you have verified qvio is not reporting any error codes, monitor the output of voxl-inspect-pose -f on voxl and make sure that you are receiving pose data.