search

HKUST-Aerial-Robotics / Teach-Repeat-Replan

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
GNU General Public License v3.0
935 stars 248 forks source link

Odometry for controller #27

Closed ArlenCHEN closed 4 years ago

ArlenCHEN commented 4 years ago

@USTfgaoaa May I ask why do you use /vins_estimator/imu_propagate, instead of /vins_estimator/odometry as the odometry for the controller? Thanks!

USTfgaoaa commented 4 years ago

@ArlenCHEN For a higher feedback rate.

ArlenCHEN commented 4 years ago

Thanks! But I am wondering is there any way to change the frequency of /vins_estimator/odometry to meet the control feedback rate in VINS_FUSION?

USTfgaoaa commented 4 years ago

@ArlenCHEN No way to change that msgs, which is exactly the frequency of the pose estimation of the VIO. It's impossible to boost the frequency of the VIO to 50~100 Hz in an onboard computer.

ArlenCHEN commented 4 years ago

Clear now. Thanks for your kind reply!

yiyongrobotics commented 4 years ago

@ArlenCHEN For a higher feedback rate. @USTfgaoaa are they /vins_estimator/odometry and /vins_estimator/imu_propagate much different?no any difference for control performance? and I wanna make sure if /vins_estimator/imu_propagate is accurate enough for the controller and the whole system.