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HKUST-Aerial-Robotics / D2SLAM

$D^2$SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm
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How to visualize SLAM data by remote pc #41

Open allegorywrite opened 2 months ago

allegorywrite commented 2 months ago

Thank you for the great SLAM system. I'm currently trying to run D2SLAM on Xavier NX, but am struggling with how to visualize it. If I run a ROS node on Xavier NX, is there a launch file or something to visualize the data remotely? Furthermore, if I create a map using a depth camera, is there a pipeline to remotely visualize the resulting point cloud or map? At first glance, it doesn't seem like there is any pub/sub of point clouds in the LCM system.

xuhao1 commented 1 month ago

You may take a look at https://github.com/HKUST-Swarm/swarm_gcs

allegorywrite commented 1 month ago

Thank you! It looks like swarm_gcs receives ROS topics directly and visualizes them. Am I correct in my understanding that you are not using lcm for visualization in your project (or are using lcm and ROS together)?