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HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
GNU General Public License v3.0
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Questions about running GVINS with my own device. #44

Open SSZ1 opened 1 year ago

SSZ1 commented 1 year ago

Hi~bro. I ran the GVINS with my own device (including a realsense D455 as the VIS and a H-RTK-F9P as the GNSS module ). I set all the device right. And the GPS runs fine. But it shows "length error" in the Ublox-driver terminal windiow.But when I run the GVINS project with the estimate_extrinsic 2. But After I roslaunched the GVINS , the terminal windows shows only "init begins". And I opened the rviz , it had the original image and the feature point image but no pose. I echoed the enu_pose and other messages outputed by GVINS, they are all none. So why is this?

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Could you give me some advice about this? Thanks a lot.
ZoYooJy commented 1 year ago

could u tell the details about the Synchronization between vi & gnss receiver module? thx very much!!!

SaiSugunSegu commented 1 year ago

@ZoYooJy , what method of Synchronization would you suggest for synchronizing GNSS and VI

I use GPIO trigger to synchronize the VI system,

what do you do if the sensor doesn't have GPIO pins?