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MIT-SPARK / Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
BSD 2-Clause "Simplified" License
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IMU Propagated Odometry? #112

Open iamsavva opened 4 years ago

iamsavva commented 4 years ago

Ahoy! I’m running Kimera with D435i on a TX2 - things work, all good, many thanks:)

My question is about published odometry.

I’ve got IMU data streaming at ~250Hz and stereo images at 15Hz, both coming from D435i. Currently, the only odometry topic published by Kimera is /kimera_vio_ros/odometry, published at around 4Hz. This is odometry produced by VioBackEnd. Is there a way to also publish odometry propagated at the IMU rate? What about odometry propagated at the camera rate? (not sure if that last one is possible with keyframes though)

4Hz is a bit slow:)

I wonder if I am missing some flag, or a parameter, or something like that. Would appreciate any help!

Cheers, thank you for the fantastic work! Savva

micah-cobot commented 4 months ago

@iamsavva Did you manage to figure this out?