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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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problem with datatype/md5sum #384

Open sbdjyl opened 3 years ago

sbdjyl commented 3 years ago

my environment: ubuntu 16.04 realsense d435i with LibRealSense v2.41.0

i want to use vins-mono and fast-planner in real world. when i run vins,and then run fast-planner,i see that: Client [/fast_planner_node] wants topic /vins_estimator/point_cloud to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca]. Dropping connection.

It make me can't use depth image in fast-planner. how can i solve the problem?

kalaivanank04 commented 1 year ago

i face the same issue. Could you please tell me the workaround? Thanks in advance

HaiLinHou commented 1 month ago

In vins the point cloud is in sensor_msgs/PointCloud format, but in fast-planner the point cloud is in sensor_msgs/PointCloud2 format, do a format conversion.

Conversions have ready-to-use library functions